7060700US-T 6.0 MAF DIR Croisillon

INSTRUCTIONS Version 7060700
6.0
Translation of Valid from Page Created by
the original 18/07/14 SCISSOR DIR ROBOT 1/56 F.PILLON
instructions
Impasse dAthnes
ZAC Albasud II, CS 60112
82001 MONTAUBAN
maf@maf-france.com
05 63 63 27 70
Service aprs-ventes mcanique : 05 63 63 46 55
Service aprs-ventes lectronique : 05 63 63 26 50
Fax: 05 63 63 07 85
Fax : 05 63 63 07 85
Translation of the original instructions

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FOREWORD
Only authorised persons informed about the safety procedures and

taking all necessary precautions are in a position to carry out any intervention on the
machine. A paragraph giving details of the safety instructions is listed in this
instruction sheet. It is obligatory that you read these instructions before any
intervention.
MAF AGROBOTIC refuses to take any responsibility for any consequences which may result from a
wrong interpretation of the contents of these instructions.
MAF reserves the right to modify the contents of this manual without warning.
THIS MANUAL IS UNIQUE, NO COPY WILL BE PROVIDED.

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CONTENTS
A MANUFACTURERS BUSINESS NAME AND ADDRESS ...........................................................4
B MACHINE IDENTIFICATION ..........................................................................................................4
C DECLARATION DINCORPORATION C.E. ..................................................................................4
D GENERAL DESCRIPTION ................................................................................................................6
D.1 APPLICATION FIELDS ......................................................................................................................6
D.2 TECHNICAL DATA ...........................................................................................................................7
E WORKING STATIONS .......................................................................................................................9
F OPERATION OF THE MACHINE ....................................................................................................9
F.1 SIGNALS .........................................................................................................................................9
F.2 COMMANDS ....................................................................................................................................9
G APPLICATION RESTRICTIONS ...................................................................................................10
H ASSEMBLY, INSTALLATION AND JOINING INSTRUCTIONS ............................................10
H.1 INSTALLATION ..............................................................................................................................10
H.2 CIVIL WORKS ................................................................................................................................10
H.3 ENVIRONMENT..............................................................................................................................10
H.4 NECESSARY SPACE AROUND THE MACHINE ...................................................................................10
H.5 ASSEMBLY AND DISMANTLING .....................................................................................................11
I NOISE AND VIBRATION REDUCTION ........................................................................................11
J COMMISSIONING .............................................................................................................................11
J.1 START UP ......................................................................................................................................11
J.2 MACHINE STOPS............................................................................................................................11
J.3 USER TRAINING.............................................................................................................................12
K RESIDUAL RISKS FOR OPERATORS .........................................................................................12
L PROTECTION MEASURES FOR OPERATORS .........................................................................12
M ADDITIONAL TOOLS AND ACCESSORIES ..............................................................................13
N STABILITY REQUIEREMENTS OF THE MACHINE ...............................................................13
O TRANSPORT AND HANDLING .....................................................................................................13
O.1 INDICATIONS RELATIVES TO TRANSPORT ......................................................................................13
O.2 OFFLOADING OF THE MACHINE .....................................................................................................13
O.3 REQUIRED POWER AND EXTERNAL MEANS ....................................................................................14
P ACCIDENT OR FAILURE................................................................................................................14
Q CONTROL AND OPERATION MAINTENANCE .......................................................................15
Q.1 CONTROL AND SETTINGS ..............................................................................................................15
Q.2 CLEANING .....................................................................................................................................16
Q.3 MAINTENANCE .............................................................................................................................16
Q.4 SPARE PARTS ................................................................................................................................17
Q.5 BREAKDOWN: PROBLEMS AND REMEDIES .....................................................................................37
Q.6 SAFETY FEATURES ........................................................................................................................38
R MAINTENANCE AND REPAIR ......................................................................................................38
S PARTICULAR SPECIFICATIONS FOR THE SPARE PARTS ..................................................44
T SOUND EMISSION ............................................................................................................................44
U RADIATION EMISSION ..................................................................................................................44
V ANNEXES ...........................................................................................................................................44
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A MANUFACTURERS BUSINESS NAME AND ADDRESS
MAF AGROBOTIC SAS

Impasse dAthnes
ZAC Albasud II- CS 60112
82000 MONTAUBAN
TEL: 05 63 63 27 70
FAX: 05 63 63 07 85
B MACHINE IDENTIFICATION
SCISSOR D.I.R. ROBOT & DIR ROBOT
The machine is identified by an identification plate riveted on its frame and always visible
The information you can find on it are the following:
Manufacturers MAF item

business name code
Machine
Manufacturers MAF Date of Release
number
head office address from Factory
C DECLARATION DINCORPORATION C.E.
DECLARATION OF INCORPORATION WITH EC STANDARDS

(Enforcement of articles R.4313-59, R.4313-60 and R.4313-64 from Labour laws)
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Manufacturer:
M.A.F. AGROBOTIC
IMPASSE DATHENES
ZAC ALBASUD 2 BP60112
82001 MONTAUBAN CEDEX
DECLARE THAT EQUIPMENT DESCRIBED HEREAFTER:
Model : DIR CROISILLONS & DIR ROBOT

Brand : MAF AGROBOTIC
Type : 060
Serial number :
Year : 2012
Is in accordance with:
- Directive 2006/42/CE relative to machinery,
- Directive 2004/108/CE concerning electromagnetic compatibility,
- Directive 2006/95/CE concerning equipments with low voltage
- Regulation (EC) 1935/2004concerning materials and articles intended to come into contact with food
products.
Technical file: relevant technical documentation has been compiled in accordance with annex VII B to
directive 2006/42/CE. The person authorized to establish this file is signatory.
The manufacturer undertakes to transmit, in response to a reasoned request by the national authorities,
relevant information on the mentioned equipment.
WARNING: It is strictly forbidden to commission the equipment concerned if the machine in which
It is intended to be incorporated or if the set of machines to which it must be assembled has not been
found to comply with the provisions of the directive 2006/42/CE or to national provisions transposing
this directive in the country of commissioning.
Made in, the
Authorized signatures and stamp of the corporate name:
The Security Manager :
Guillaume FEAU
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D GENERAL DESCRIPTION
D.1 Application Fields
The Scissor D.I.R. robot enables to empty a fruit bin by immersion in a water tank. The bins can be
destacked and piled up again by piles of 3 or 4.
This machine is located at the beginning of the packing or pre-sizing line.
Several configurations are possible:
Standard Scissor D.I.R. for floating fruits (apples,...)
Turning over Scissor D.I.R. for floating fruits and a rate higher than 28 bins per hour.
Turning over Scissor D.I.R. and moving bottom for heavy fruits (pears,)
Swivelling Scissor D.I.R. for 2 outlets bins whose hold and immersion direction
is different.
Nester Scissor D.I.R. robot for 1000x1200 bins & bins hold on the large side.
D.I.R. robot Destacking or stacking of several bin stacks (without

emptying).
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D.2 Technical data
Type of bins Wood and/or Plastic

Height : 550-800
Length : 1000 1200
Width : 1000 1200
Electrical power D.I.R. standard : 4,1 kw
D.I.R. Robot: 7 Kw
Electrical consumption 7 A or 13A

Electrical power 380-440 V 50-60 hz
Pneumatic consumption Standard : 1 Nm3/h
Turning-over : 3 Nm3/h
Turning-over/Swivelling : 5 Nm3/h
Turning-over/Swivelling /Nester : 6 Nm3/h
Rate Turning over D.I.R robot.: 40 palox per hour

D.I.R robot. : 28 palox per hour
3
Tank capacity 2, 6 m with a standard tank.
3,1 m3 when theres the turning over option
3, 8 m3 with a moving bottom.
Pump 130m/h
Lifting limit load: 1 bin of 500kg (See load test report on next page).
ATTENTION: the maximal load authorized for lifting is the one displayed on the load
plate of the machine. This load can be lower than the nominal charge because it affects the
stopping time of the machine and therefore the safety distances.
As standard the weight of this load is 400kg.

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E WORKING STATIONS
Usually, it is not necessary for the machine operator to be present all the time while the machine is
running but an occasional watch out is necessary.
F OPERATION OF THE MACHINE
F.1 Signals
Acoustic:
The main cabinets for pre-sizing lines, grouping several MAF machines together, are equipped with
Klaxon sirens. When you press on the start-up button of the selected machine group, the siren will
sound for 3 seconds before the machine starts.
Visual:
Red lights: indicate an operational fault, emergency stop or a motor fault and will stop the equipment.
Note that the emergency stop red lamps are sometimes mounted on high supports so they can be easily
seen.
Orange lights: indicate a machine fault with the shut down of the concerned machine.
Green lights: indicate the operation of the corresponding machine.
Safety panels:
The safety panels, fixed on the guards of the machines indicate to the users that access during operation
is prohibited (white letters on a red background).
F.2 Commands
EMERGENCY STOPS: Red buttons with a circular yellow label: Latching emergency stop buttons with
a circular yellow background label reading emergency stop in black letters.
MACHINE STOPS: Red buttons with a rectangular red label: Latching emergency stop buttons with a
red background label reading STOP in black letters.
Black buttons:
- Control push button with a black background label.

- Rotating buttons with a selection of 2 or 3 positions white and black background label.
- Rotating mode selection buttons needing a key to work, only qualified persons have access to these
keys.
- Illuminated green push buttons start each group.
Isolating switches: Every electrical cabinet with a power supply of 400 V possesses a lockable isolating
switch.
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G APPLICATION RESTRICTIONS
It is strictly forbidden to use other formats of bins than those mentioned in this instruction sheet, under
penalty of generating wedging, breakdowns, even the damage on whole or part of the equipment.
Any other use not defined on this document is strictly forbidden.
H ASSEMBLY, INSTALLATION AND JOINING INSTRUCTIONS
H.1 Installation
The machine can only be installed by MAF AGROBOTIC personnel.

Each machine requires a specific installation procedure.
A MAF lay out plan will indicate how the machine should be incorporated to the set of machines as well
as protections and accesses to implement.
The machine operation will be controlled from the installation to which it is incorporated. Connections
must be made by MAF personnel only.
H.2 Civil works
Three copies of the civil works drawing and machine drawing are sent to the customer for signature.
The customer should refer to this drawing for the location of the machine in the building.
H.3 Environment
Location: always in closed premises, protected from rain.

Storage temperature: from -10C to 50C
Functioning temperature: from 0C to 45C
Dampness: from 10% to 90% without condensation.
H.4 Necessary space around the machine
a) Offloading and installation

The necessary space should be reserved for offloading to be easily carried out. In case two forklifts are
necessary, the transport truck might be moved and the equipment suspended in mid-air. Some machines
(big machines in particular) should not be suspended more than 20 cm from the ground.
b) In operation
An access to allow maintenance has to be provided.
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H.5 Assembly and dismantling
Both are exclusively carried out by MAF AGROBOTIC personnel.
I NOISE AND VIBRATION REDUCTION
In order to limit at a maximum the noise level of the machine, housings and protections have to be set and
fixed as recommended.
All the machine pillars must be anchored to the ground.
J COMMISSIONING
Connections and location: see the enclosed drawing of machine block-diagram.
The start-up can only be implemented by MAF AGROBOTIC staff, as they are the only ones to
be qualified for this task.
J.1 Start up
To avoid any untimely or dangerous start, different security procedures have to be applied:
The machine must only be started, after checking the lack of foreign person in restricted areas and
protected of the machines.
When a group of machines is started by using a black push button with a black background label,
it sets off a siren for 3 seconds before the machine starts.
The machine must only be started by pressing the start push button after disengaging the
emergency stop Machine button.
These warnings are obligatory after any accidental power cut or if an operator stops the machine.
J.2 Machine stops
Machine stops: 2 types of stops

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Emergency stop: lockable, red punch buttons with yellow background (to be found on several
places of the installation): allow that all the machines will be stopped when an emergency stop is
pushed. These are used only in emergencies: for personal safety and security.
Machine stop: lockable, red punch buttons with a red background rectangular label, black letters
(to be found in several places on the machine) enable to stop the concerned sector or the concerned
machine but not the whole installation. These are used to protect the machines.
Settings that can be done by the operator from the control PC during sizer operation:
None
J.3 User training
It is the MAF AGROBOTIC staff who is in charge of the start up that trains the customers personnel to
use, clean and maintain the installation properly.
It is forbidden to use the machine with a different purpose

from the one specified in the sale contract
K RESIDUAL RISKS FOR OPERATORS
It is forbidden to operate on the machine when it is ON. The operation is only allowed in low position and
with electrical power switched off.
There is a risk of opening of the bin tightening clamps after a lengthy stop of the machine following an
emergency stop or an electrical cut.
There is a residual risk of breaking of the lifting belts and fixation of the belt flanges.
L PROTECTION MEASURES FOR OPERATORS
Keep long hair tied up and avoid wearing full clothes near the moving parts of the machine.
The staff must be equipped by his employer with personal protective equipment required for the activity
assigned (Article R4321-4 of the Labour Code).
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M ADDITIONAL TOOLS AND ACCESSORIES
N/A
N STABILITY REQUIEREMENTS OF THE MACHINE

In operation and during test and setting phases:
- The machine must be anchored to the ground
During transport and handling

- See chapter (P)
O TRANSPORT AND HANDLING
Weight of the equipment: Depends on each configuration.

The machine is disassembled in several parts (max. weight 2, 5 t).
NOTE: HANG POINTS ARE MARKED ON THE CHASSIS FOR SHIPMENT.
O.1 Indications relatives to transport

The machine must be correctly tied up on to the transport mean in order to prevent it from moving or
being damaged. Do not use mobile parts for the fixing.
The container must be closed and waterproof.
For containers that can be stacked on platform, please use standard containers that can be totally closed
by a steel plate. Containers closed with a tarpaulin or wood can not be accepted: they would not be strong
enough to bear shocks that can happen during loading, transport and offloading of containers.
O.2 Offloading of the machine
The offloading of the machine is under the customer's responsibility.
SAFETY RULES
Offloading must be carried out by competent technical personnel, acknowledged by the

purchaser of the installation. These personnel are aware of safety rules and watch out for
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equipment moving until it is located on its definitive place, in order to avoid any accident. To this
aim, they respect the use of transport and stop points.
It is the customer's responsibility to determine the appropriate way of offloading. According to

the purchased equipment, he will have to think about necessary personnel, appropriate lifting
and handling material not to shock the machine when offloading and positioning it.
If possible, the equipment should be offloaded in covered premises, in order to avoid possible
damages that might be caused by rain, dust or sand that can come into the mobile parts of the
machine.
If possible, the equipment should be offloaded in covered premises, in order to avoid possible
damages that might be caused by rain, dust or sand that can come into the mobile parts of the
machine.
VERY IMPORTANT: THE MACHINE MUST BE CORRECTLY OFFLOADED. IN

CASE OFFLOADING IS MADE WITHOUT RESPECTING SAFETY RULES AND/OR WITH
BAD WEATHER CONDITIONS, THIS COULD CAUSE AN EARLY AND ABNORMAL WEAR
OF THE MACHINE AND AFFECTS ITS RUNNING. IF THIS IS THE CASE, A CHECKING
AND AN INTERVENTION BEFORE AND DURING ASSEMBLY WILL BE NECESSARY,
THIS WILL OF COURSE POSTPONE THE COMMISSIONING.
O.3 Required power and external means
Machines do not have any lifting and handling apparatus.
Several workers and a forklift might be necessary for the handling and definitive positioning of some
machines (lift capacity by defect/forklift: 3, 5 tons). If more than 2 forklifts are necessary, a crane would
be preferable for safety and quickness reasons.
Parts of the machine can be lifted with forklifts fitted with fork extension.
Parts must be lifted by the points marked on the parts of the machine.
Any other precision about handling means will be indicated in the sales contract at the time of the order
confirmation.
P ACCIDENT OR FAILURE
In case of an accident or a general failure which wouldnt be treated on the machine instructions, activate
an emergency stop and call the MAF after-sales service.
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Q CONTROL AND OPERATION MAINTENANCE
Q.1 Control and settings
The motors air gap (codes MAF: 2400050, 2400106, 2400198 & 2400076) must have a value
ranged from 0, 3 to 0, 45 mm.
See assembly instructions in appendix p.40.
Bad maintenance of the brakes can lead to malfunctions of the machine that
can be dangerous for the operating staff.
Reducers maintenance :
Oil change recommended after 300 hours of functioning.
Type of oil recommended: HUILE SHELL PANOLIN 320 ALIMENTARY (code MAF
6340062).
Please refer to the subcontractors instruction sheets delivered with the machine for the usual
maintenance.
The level is done with the level plug. Emptying recommended after 300 hours of functioning.
Lifting reducer Pujol (code MAF 2280264)

Breather
Pipe
Drain
Level
Pendulum reducer Motovario (code MAF 3060980, 3060982, 2280615)

Please refer to the subcontractors instruction sheets delivered with the machine.
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Q.2 Cleaning
High pressure washing with direct spraying is forbidden on bearings, motors and cells.
Q.3 Maintenance
Monthly maintenance
o Greasing of the bearing rollers.

o Check the eventual pneumatic leaks of clamp cylinders and joints.
o Greasing of turning-over clamp plain bearing
Plain bearing:
3060559
Edible fat greasing

MAF Code 9800198
Quarterly maintenance
- Check the pulley centring from the belt and the tightening of the rollers and pulleys stop screws.
Bi annual lubrication:
Cylinders joints (edible fat).
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End-of-year maintenance
- Repaint the surfaces requiring it to avoid metal oxidation.
- Tighten the motor and electrical cabinet connection screws.
- General cleaning of the machine.
- General greasing
Q.4 Spare parts

1. The lifting belts code 3060871 or 3060872 as well as the flange fixing screws (code 3060793)
have to be replaced once a year. It is better that this operation is carried out by MAF
AGROBOTIC staff.
Belt:
Code 3060871 (3 bins stack)
Code 3060872 (4 bins stack)
12 screws H M8-45
+ brakes nuts
Flange
(Code 3060793)
Code 3060871 = Lifting belt L4500

Code 3060872 = Lifting belt L5500
Code 3060793 = Belt flange
2. The pneumatic directional control valves must be replaced once a year.

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3. TROLLEY
SCISSOR D.I.R. ROBOT I Trolley (Small wheels)
CODE DESIGNATION
2280146 Reducer RO/Vis B3AC25 20/1 I 63PAM-AC=19&B14/MOT
1060037 Complete drive wheel Vulk 082X70 DIRR frame
1060094 Assembled pulley
2200126 Bearing plate FR D25 (SKF) FYTB25TF
2240004 Single wheel steel Band PU D060 L20 bearings 020/6004 2RS
2280264 Red Axe// I48.7 B5 AC D50 PUJOL
2400050 Motor FR 3,00KW 1500T 100LB/4 B5 CE
2400066 Motor FR 0,75KW 1500T 080/4 B14 CE
3060787 DIR scissors vertical Guide
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SCISSOR D.I.R robot II Trolley (Large wheels)
STANDARD:
3060873
3060874
CODE DESIGNATION
2200129 Bearing plate FR D30 FYTB30TF Import
2240134 Single wheel FR band VULK D200 L60 D30CL
2280121 Red RO/VI Motova NMRV/075 40/1 B3 AC28/PAM 90B14
2280613 Red Axe// I47,B5 AC D50 Joint Viton S102 Pos.M.B8
3060868 DIR scissors right safety chain fastening
3060873 Wheel tyre Vulk D200x60 + shaft D30 L520
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DIR ROBOT:
3060873
3060874
CODE DESIGNATION
2280614 Red Axe// I32,40B5 AC D50 joint Viton S102 Pos.M.B8
2280615 Red Axe// I13,66 B5 AC D30 joint Viton S052 Pos.M.B8
2340020 Trans Chain P1/2"D N Iso 08 B2
2340120 Lk/quik Lk P1/2 DBL Iso 08 B2
2400076 Motor FR 1,50KW 1500T 090/4 B5 CE
2400106 Motor FR 4,00KW 1500T 112M/4 B5
3060868 DIR scissors right safety chain fastening
3060887 Pinion CH 1/2"B1 C45ZN CL Z18 D28/56 L28 2M8
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4. SCISSORS
TROLLEY
ROLLER
PUSHER PLATE BEARING
LOWER FRAME
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5. CLAMPS
Commun clamps
CODE DESIGNATION
2230004 Cyl iso cours frn fem swl M20X150-D20AC/PTFE DIN648
2560123 Cyl Iso D063 L=0400 G1
2590056 Cylind iso hing fem rear D063
2590059 Cyl iso cours frn fem swl D050/063M16X150-D16 AC/BZ
2590156 Cylind iso hing fem rear D080
2650243 NA
3060489 Clamps frame
3434415 extension rod cylind D63
3434416 fastening rear cylinder clamp
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1060054 DIR Immerser clamps
CODE DESIGNATION
1060049 Subset common clamps
3434718 Front immerser clamp
3434720 Immerse clamp coating
3434719 Rear immerse clamp
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1060060 DIR Turning-over clamps
CODE DESIGNATION
1060049 Sub set common clamp
2560216 Cyl Iso D100 L=0200 GI
3060537 Rack guide
3060538 Rack AISI304 M3 S30X30 L360
3060559 Clamp bearing
3060605 Pinion module Cyl AISI304 M3 Z50 D00/100 L25/97,5
3060717 Rear clamp
3060718 Front clamp
3060719 Swiveling clamp
3060720 Swiveling clamp coating
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1060135 Turner clamps with stops
CODE DESIGNATION
2030004 Cyl iso cours frn fem swl M20X150
2560216 Cyl Iso D100 L=0200 GI
3060538 Rack AISI304 M3 S30X30 L360
3060605 Pinion module Cyl AISI304 M3 Z50
3060719 Swieveling clamp
3060720 Swieveling clamp coating
3060986 Bin stop SP
3075005 Bin stop SY
3060990 Reference clamp
3060991 Tightening clamp
3060992 Rack guide
3060993 Washer support
3060994 Fastening washer
3074002 Top hook support
3070004 Hook pin
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1060101 Swivelling clamps
Immerser clamps (1060054)

Or Turning-over clamps (1060060)
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CODE DESIGNATION
2230103 Crown orient/bearing SS DT ROLLIX08027004ZZ00
2560198 Cylind Iso D050 L=0400 G1
2590055 CYLIND ISO HING FEM REAR D050
2590059 Cyl iso cours frn fem swl D050/063M16X150-D16 AC/BZ
3060863 DIR Scissors lower frame
3060865 Crown spacer Alu D40XD17L15 DIR scissors
3060867 Foot linking plate DIR Scissors
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1060116 - Clamp DIR Robot (without sensor)

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CODE DESIGNATION
2195018 Elast stud C/C M 030X30 M08X12
2230008 CYLIND ISO COURS FRNT SWL D10
3060489 Frame clamps
3434423 Rear clamp
3434424 Front clamp
3434940 Press roller
3434941 Press roller bearing
3434942 Slide channel rope lever
3434943 Press roller coding support
3434944 Press roller coding cam
3434945 Press roller stop support
3434946 Coding arm
3434947 Press roller connecting rod spacer
3434992 Ramp flange
3434993 Coding lower bearing
3434994 Coding lower bearing axis
3434995 Coding arm axis
3434996 Coding axis
2620086 O-ring nitrile D40x24x8
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DIR Robot clamps with bin detector sensor

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CODE DESIGNATION
1434122 Sensor
2020007 Circlips ext D20
2195018 Elast stud CC 30X30 M08-12
2230008 CYLIND ISO COURS FRNT SWL D10
2620086 O-ring nitrile D40x24x8
3060489 Frame clamps
3060865 Spacer alu D40 L15
3434424 Front clamp
3434940 Press roller
3434941 Press roller bearing
3434942 Slide channel rope lever
3434943 Press roller coding support
3434944 Press roller coding cam
3434945 Press roller stop support
3434946 Coding arm
3434947 Press roller connecting rod spacer
3434992 Ramp flange
3434993 Coding lower bearing
3434994 Coding lower bearing axis
3434995 Coding arm axis
3434996 Coding axis
3438213 Rear clamp
3438215 Sensor axis
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1060117 Restacker clamps

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CODE DESIGNATION
2200129 Bearing plate FT D30 FYTB30TF Import
2340004 Trans Chain P1/2"S N/PLT ISO 08 B1
2560081 Cylinder ISO 63 P 250G1DM
2560242 Cylinder ISO D080 L=0200 G1DM
2560724 Cylinder double/EF Mag ISO D100 L=0236
2590031 Cylind ISO cours frnt fem D050/063 M16X150-D16
2590056 Cylind ISO hing fem rear D063
3060537 Rack guide DIRR Clamp
3060559 Clamp bearing DIRR Clamp
3060605 Pinion module cylindre AISI 304 M3 Z50 D00/100 L25/97,5
3060891 Latch extension bin nester
3060892 Rotation rack. Clamps nester
3060896 Long rear clamp nester
3060897 Long front clamp nester
3060898 Support latch cylinder bin nester
3060955 Nester clamps frame
3060956 Turn clamp 180 empty bin nester
3060957 Fastening pin GRIP nester
3060958 GRIP nester
3434416 Rear fastener cylinder clamp
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1060122 Turning over robot & restacker clamps

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CODE DESIGNATION
1060049 S/E Common clamp
2200129 Bearing plate FT D30 FYTB30TF Import
2560081 Cylin ISO 63 P 250G1DM
2560724 Double cylin/Ef MAG ISO D100 L=0236 G1 DM
2590031 CYLIND ISO COURS FRNT FEM D050/063 M16X150-D16
2590056 CYLIND ISO HING FEM REAR D063
3060605 Pinion module cylindre AISI304 M3 Z50 D00/100 L25/97,5
3060890 Latch bin nester
3060891 Latch extension bin nester
3060892 Rotation rack. Clamps nester
3060894 Turn clamp 180 full bin nester
3060895 Clamp nester coating
3060896 Long rear clamp nester
3060897 Long front clamp nester
3060898 Support latch cylinder bin nester
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1060114 DIR Robot slowing down boom

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CODE DESIGNATION
2195018 Elast stud C/C M 030X30 M08X12
3060950 Slowdown cell rod
3060951 Slowdown cell rod support
3060952 Slowdown rod stop
3060953 Support ch. Slowdown cell
3060954 Slowdown rod flange
3434971 Slowdown rod bearing RB2
3434990 Slowdown cell box RB2
5080173 Cable holder chain 18X25 inside, R : 048
Q.5 Breakdown: problems and remedies
IMPORTANT:
Before anything, check that the machine in ON (automatic mode) and that the whole sensors and cells of
the machine and of the close environment are correctly set up. Once the checking done, the control must
be done when the machine is stopped in compliance with paragraph R.
DEFECTS POSSIBLE CAUSES REMEDIES

Orange indicator on The truck operator has The truck operator or a
forgotten to re-arm the responsible person has to re-
machine. arm the machine.
A person passed in front of the
safety sensor and the machine
stopped.
Defect indicator on Problem with the air pressure, Check the input and the air
Not enough pressure circuit.
If the pressure switch is
normal, push on start.
Wrong programming of the bin
height Check the bin height
programmed corresponds to
the bin height to empty.
Re-initialise and restart.
Motor defect indicator on A thermical magneto has fused Identify the thermical magneto
Find out the problem
Re-initialize the magneto
Variator defect indicator A variator is in error Look in the manual of the

on variator to identify the defect
(displayed in the screen of the
variator)
Solve the problem by
following the instructions
given in the manual
Do a reset on the variator.
6.0
instructions
Security pump indicator The water level is too low to Refill the tank.
on allow the pump works.
Defect indicator on and Vertical belt slackness sensor Check PLC inlet (failsoft).
stationary activated
If the problem is not in the list, check in manual mode that all the movement can be done
normally, in order to be sure that there is no problem with the electrical cabling and that nothing is
jammed that can disturb the good working of the machine.
Q.6 Safety features
List of safety features of the installation to respect in case of replacement of a component in a line:
The machine must be incorporated into a set of machines.

A MAF layout plan will indicate how it should be incorporated into the set of machines as well as the
protections and access to implement.
Safety features related to these accesses will be defined in the general instructions.
In case there are not general instructions, below are the standard features:
- Emergency stops (up to three ES buttons) =>ISO 13849-1 : 2006 Category 3 PLe
- Emergency stops (from 4 ES buttons) =>ISO 13849-1 : 2006 Category 3 PLd
- Optic light curtains: truck driver access=>ISO 13849-1 : 2006 Category 4 PLd
R MAINTENANCE AND REPAIR
During all maintenance and cleaning operations the machine must be OUT OF SERVICE and UNABLE
TO BE SWITCHED ON.
REMINDER OF GENERAL SECURITY RULES
Only qualified persons, according to the decree 93-41 of 11/01/93, trained in safety
procedures and taking all necessary precautions should be permitted to carry out intervention
works on the machine:
cleaning and maintenance

unjamming
correction of irregular operation
Breakdown repair
6.0
instructions
The stopping of the machine following the detection of a lifting (belt slackness) implies a fail soft.
Follow the safety instructions hereafter:
Proximity sensor
Belt slackness
ALL THE OPERATIONS, WITHOUT EXCEPTION, IN THE DIRECT ENVIRONMENT OF

THE PREHENSION SYSTEM, HAVE TO BE DONE BEING CAREFUL TO CARRY OUT THE
FOLLOWING LOCKING OPERATION:
6.0
instructions
ASSEMBLING SECURITY CHAIN
Before any intervention on the D.I.R., the lower frame has to be fixed using the safety chains code
1825118.
Position the shackle Code 2190386 in the drilling D22 provided on the lower frame.
2190386
Lower frame
6.0
instructions
1825118 Trolley
Hook the top part of the chain to the trolley using the support provided. Check that the chain is tightened
and well positioned in the bottom of the notch and that the shackle is well latched before any intervention
on the machine.
General intervention
The operator must ensure that:
He is aware of all intervention procedures of the company using the machine.

The machine is out of service and unable to be switched on during the intervention work.
A start up is absolutely impossible (machine locked) according to following stages:
6.0
instructions
Isolation equipment:
Electricity, open the main isolating switch.

Intervention on pneumatic circuit, the shut off valve must be locked and the circuits off-loaded.
Intervention on hydraulic circuit, hydraulic pumps must be stopped.
Stop and warning:
Lock and padlock the parting components with the identification of the contributor.
Intervention identification:
A notice is positioned stating clearly that an intervention is taking place. Any operation on the
machine or process at different parts, it is obligatory to use as many padlocks as there are persons
intervening.
Before the machine is re-activated, all security devices must be reset (guards, protective covers,
gates) and assurances must be made that no one is left in a danger zone.
ALL DOORS ARE EQUIPPED WITH MECHANICAL CLOSING FACILITIES TO ENSURE THEY ARE KEPT
CLOSED OR WITH CLOSING SYSTEMS WHICH ALLOW STOPPING THE PROTECTED MACHINES IF THEY ARE
OPEN.
Electrical interventions
All electrical cabinets are equipped with locks or mechanical closures (bolts with special heads)
allowing them to be kept closed with only qualified personnel being in possession of the necessary
tool or key to open them.
Before any intervention (assembly, maintenance or repairing), the machine power must be cut off
using the relevant lockable master switch, then lock this isolator while identifying the
intervention.
Checks must then be made to ensure that the machine is completely isolated from the power.
When working on the electrical entry and exit terminals, the relevant fuses to the terminals must
be cut.
When working on the frequency inverter, wait until the capacitors have lost their charge (load
lamp is out).
When working on the stabilised 24 Vcc power supply: wait until the capacitors have lost their
charge (load lamp is out).
6.0
instructions
SPECIAL INSTRUCTIONS
ALL PERSONS RESPONSIBLE FOR MAINTENANCE OF THE MACHINE MUST BE THOROUGHLY VERSED
IN ALL ASPECTS OF SAFETY REQUIREMENTS.
BEFORE STARTING ANY INTERVENTION OF ELECTRICAL OR MECHANICAL NATURE ON THE

MACHINE, YOU MUST MAKE SURE THAT THE MACHINE IS OUT SERVICE AND UNABLE TO BE STARTED
ON.
REMINDERS
The machine must be out of service.

Isolation equipment (switches, valves) must be locked and the intervention signalled.
The intervention area must be marked.
Verify that the machine is out of service before operating.
ADDITIONAL SAFETY MEASURES
The emergency button has been activated; the general cabinet power supply must have been
withdrawn using the main switch.
The start button key has to be removed to avoid any accidental start- up.
On the control cabinet, a sign indicating that an intervention is in progress has been displayed.
WARNING!!!
The work space in front of the machine must at all time be kept clean and clear in order to gain
immediate access to the main cabinet in times of emergency.
Activate the start up sequence of the operation cycle solely in the recommended manner.
Do not change the programme settings or try to modify the performance in any way from the
original settings during installation.
Always work with adequate lighting in order that there is full vision of the whole work zone.
Inform those responsible for maintenance of any irregularity of any specific device.
Before starting the machine, ensure that there are neither forgotten tools, nor foreign objects on or
in the machine.
Certain bin loading and unloading machines are accessible by the operator and are fitted with
electric cells for surveillance of the access zone. If the light beam is breached, the machine will
stop. Do not reactivate the machine if someone is still inside of the danger zone.
6.0
instructions
DANGER
Do not touch with hands, tools or other objects around the interior, working parts, or any live
electrical parts of the machine, nor the main cabinet.
Never leave the work station or the machine without surveillance whilst it is operating.
Under no circumstances should the doors or protective covers / casings of the machine unless
specifically authorised.
Machine operators must not approach the confines of the machine whilst wearing personal items
which could provoke an accident (watches, ties, bracelets, rings etc)
Uniform / overall sleeves must be securely fastened at the wrist.
It is strictly forbidden for any machine operator to access the interior of the main cabinet, if he is
not in possession of an authorization which guarantees proof or adequate competence in such
actions.
The breaching of the guards railings and safety guards of the gangways is dangerous and strictly
forbidden.
S PARTICULAR SPECIFICATIONS FOR THE SPARE PARTS

N/A
T SOUND EMISSION
Level of continuous acoustic pressure equivalent: < 80 dB

Exceptional conditions of measurements below: The measurement is made at eye level, 1m away from
the machine (workshop measurement)
U RADIATION EMISSION
N/A
V ANNEXES
1. Synoptic of the machine ....................................................................................................................45
2. Pneumatic diagrams : ........................................................................................................................49
3. Electrical diagrams :..........................................................................................................................53
4. Brakes assembly instructions............................................................................................................54
6.0
instructions
1. Synoptic of the machine
DIR
6.0
instructions
DIR ROBOT
6.0
instructions
Machine block diagram

6.0
instructions
Sensors and cells
Vertical stop cell

Vertical encoder
Vertical slowing-down
cell
Longitudinal stop cell
Longitudinal init.
Slowing-down cell
Trolley encoder
2 belt slackness sensors
Open reference clamp

cylinder sensor
Open tightening clamp

cylinder sensor
6.0
instructions
2. Pneumatic diagrams:
Immerser clamps
Vrins
Clamps pinces
cylinders
Rfrence
Reference Serrage
Tightening
6.0
instructions
Turning-over clamps
Turning-over cylinders
Vrins Retournement
Cylinder clamps
Serrage
Vrins pinces
Rfrence
6.0
instructions
Turning-over/ swivelling
clamps
Swivelling
Vrins
Vrins cylinders
Pivotement
cylinders
Retournement
Turning-over
serragetightening
pinces
Serrage
VrinsClamps
Rfrence
the original
instructions
Translation of
18/07/14
Valid from
Tightening
Vrinsclamps cylinders
serrage pinces Turning-over cylinders
Vrins Retournement Swivelling cylinders
Vrins Pivotement Bin
Vrins cylinders
latchloquet palox
Rfrence Serrage
INSTRUCTIONS
SCISSOR DIR ROBOT
Turning-over/ Swivelling/ Nester clamps

6.0
Page
52/56
Version
Created by
7060700
F.PILLON
6.0
instructions
3. Electrical diagrams:
Refer to the electrical diagrams on the general documents on the installation main cabinet.
6.0
instructions
4. Brakes assembly instructions

6.0
instructions
6.0
instructions

7060700US-T 6.0 MAF DIR Croisillon

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INSTRUCTIONS Version 7060700

Translation of the original instructions

Only authorised persons informed about the safety procedures and

THIS MANUAL IS UNIQUE, NO COPY WILL BE PROVIDED.

A MANUFACTURERS BUSINESS NAME AND ADDRESS

MAF AGROBOTIC SAS

SCISSOR D.I.R. ROBOT & DIR ROBOT

Manufacturers MAF item

C DECLARATION DINCORPORATION C.E.

DECLARATION OF INCORPORATION WITH EC STANDARDS

DECLARE THAT EQUIPMENT DESCRIBED HEREAFTER:

Model : DIR CROISILLONS & DIR ROBOT

Made in, the

Authorized signatures and stamp of the corporate name:

The Security Manager :

D.1 Application Fields

This machine is located at the beginning of the packing or pre-sizing line.

Several configurations are possible:

Standard Scissor D.I.R. for floating fruits (apples,...)

D.I.R. robot Destacking or stacking of several bin stacks (without

D.2 Technical data

Type of bins Wood and/or Plastic

Electrical consumption 7 A or 13A

Rate Turning over D.I.R robot.: 40 palox per hour

As standard the weight of this load is 400kg.

F OPERATION OF THE MACHINE

Green lights: indicate the operation of the corresponding machine.

- Control push button with a black background label.

Any other use not defined on this document is strictly forbidden.

H ASSEMBLY, INSTALLATION AND JOINING INSTRUCTIONS

The machine can only be installed by MAF AGROBOTIC personnel.

H.2 Civil works

Location: always in closed premises, protected from rain.

H.4 Necessary space around the machine

a) Offloading and installation

H.5 Assembly and dismantling

Both are exclusively carried out by MAF AGROBOTIC personnel.

I NOISE AND VIBRATION REDUCTION

All the machine pillars must be anchored to the ground.

Connections and location: see the enclosed drawing of machine block-diagram.

J.2 Machine stops

Machine stops: 2 types of stops

J.3 User training

It is forbidden to use the machine with a different purpose

K RESIDUAL RISKS FOR OPERATORS

L PROTECTION MEASURES FOR OPERATORS

M ADDITIONAL TOOLS AND ACCESSORIES

N STABILITY REQUIEREMENTS OF THE MACHINE

- The machine must be anchored to the ground

During transport and handling

O TRANSPORT AND HANDLING

Weight of the equipment: Depends on each configuration.

NOTE: HANG POINTS ARE MARKED ON THE CHASSIS FOR SHIPMENT.

O.1 Indications relatives to transport

O.2 Offloading of the machine

The offloading of the machine is under the customer's responsibility.

Offloading must be carried out by competent technical personnel, acknowledged by the

It is the customer's responsibility to determine the appropriate way of offloading. According to

VERY IMPORTANT: THE MACHINE MUST BE CORRECTLY OFFLOADED. IN

O.3 Required power and external means

Machines do not have any lifting and handling apparatus.

Q CONTROL AND OPERATION MAINTENANCE

Q.1 Control and settings