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I&J4000-LF Series Operating Manual

Section 4: Programming Example

Part # 562187

Rev. E - Jan. 08

- Page 34 -

2. Good Programming Practices

It is recommended to register the setup commands at the beginning of every program. The

following setup commands are the most used:

•

Dispense End Setup

•

Point Dispense Setup

•

Line Dispense Setup

•

Line

Speed

•

Clearance

•

Retract

Setup

•

Adjust Position Setup

For a complete list and description of all the different setup commands, refer to

SECTION 3:4.2 Setup Menu

and

SECTION 5:2 Setup Menu.

3. Editing a Program

You can move through the instructions in an existing program by using the following keys:

Key Function

Moves forward (1) memory address

-1

Moves backward (1) memory address

FIRST

Moves to the first memory address in the program

END

Moves to the last programmed memory address in the program

+10

Jumps forward (10) memory addresses

-10

Jumps backward (10) memory addresses

MOVE

Moves the tip to the XYZ point location of the selected point

JUMP

Jumps to display the specified memory address

Summary of Contents for I&J4000-LF Series

Page 1: ...I J4000 LF Series Operating Manual Part 562187 Rev E Jan 08 2008 I J Fisnar Inc I J4000 LF SERIES ROBOTS OPERATING MANUAL ...

Page 2: ...I J4000 LF Series Operating Manual Part 562187 Rev E Jan 08 Page 2 2008 I J Fisnar Inc THIS PAGE INTENTIONALLY LEFT BLANK ...

Page 3: ... ASSIGNMENTS 20 4 POINT TYPE FUNCTION SUMMARY 23 4 1 Point Menu 23 4 2 Setup Menu 25 4 3 Menu 1 27 4 4 Utility Menu 28 4 5 Menu 2 29 SECTION 4 PROGRAMMING EXAMPLE 30 1 PROGRAMMING EXAMPLE 31 2 GOOD PROGRAMMING PRACTICES 34 3 EDITING A PROGRAM 34 3 1 Changing a Point s XYZ location 35 3 2 Insert Delete an Instruction 35 4 CHANGING THE PROGRAM NUMBER 35 5 CHANGING FROM TEACH MODE TO RUN MODE 36 SECT...

Page 4: ...up Edit 67 3 2 Expand Step Repeat 73 3 3 Program Name 74 3 4 Z axis Limit mm 74 3 5 Initial Output Port 75 3 6 Debug Speed mm s 75 3 7 Utility Menu 75 3 8 Jog Speed 75 3 9 Adjust Origin 76 3 10 Control by RS232 76 4 UTILITY MENU 76 4 1 Program 76 4 2 Memory 76 4 3 Teach Pendant 77 4 4 Relocate Data 77 4 5 Lock or Unlock Program 78 4 6 Password Setup 78 4 7 Cycle Counter 79 5 MENU 2 79 5 1 Numerica...

Page 5: ...S LISTS 103 1 I J4100 LF PARTS LISTS 104 1 1 I J4100 LF X axis Mechanical Parts List 104 1 2 I J4100 LF Y axis Mechanical Parts List 105 1 3 I J4100 LF Z axis Mechanical Parts List 106 1 4 I J4100 LF Electronic Parts List 107 1 5 I J4100 LF Electronic Parts List Connectors Wires 108 2 I J4300 4400 LF PARTS LISTS 110 2 1 I J4300 LF Body Mechanical Parts List 110 2 2 I J4400 LF Body Mechanical Parts...

Page 6: ...I J4000 LF Series Operating Manual Section 1 Introduction Part 562187 Rev E Jan 08 Page 6 2008 I J Fisnar Inc SECTION 1 Introduction ...

Page 7: ...ounded power source 1 3 Do not drop or spill foreign objects or material such as screws or liquids into the robot 1 4 Do not touch any moving parts while the robot is running 1 5 Loading and unloading of parts and material must be done when the robot is not running 1 6 Changing of fixtures or tooling must be done with the power source disconnected 1 7 The I J4100 I J4300 and I J4400 robots should ...

Page 8: ...closure CE Units Only Not Included Teach Pendant Barrel Holder Spare Screws and Hex Key Teach Pendant Cable Power Cord Dispenser Cable RS232 Cable and Null Modem Adapter optional I O Port Connector optional Start Stop Box optional External Control Connector Spare Control Connector Barrel and Air Line Cable Supporter for I J4100 LF Your system may also include other optional accessories If any of t...

Page 9: ...or and Switch Locations 3 1 I J4100 LF Left side View Right side View RS232 Port Input Output Port Teach Pendant Connector Monitor Port Power Switch Dispenser Purge Keyboard Port Power Inlet Program No Switch RUN TEACH Mode Switch Dispenser Cable Connector External Control Start Box Connector Start Button Emergency Stop ...

Page 10: ...J4300 4400 LF Front side view Rear side view RS232 Port Keyboard Port Teach Pendant Connector Dispenser Purge Power Led Program No Switch RUN TEACH Mode Switch Emergency Stop Start Button Monitor Port Power Switch Power Inlet CF CARD Port Dispenser Cable Connector Input Output Port External Control Start Box Connector ...

Page 11: ...I J4000 LF Series Operating Manual Section 2 Setup Part 562187 Rev E Jan 08 Page 11 2008 I J Fisnar Inc SECTION 2 Setup ...

Page 12: ...ed in the European Community the robot must be placed in an enclosure supplied by I J Fisnar Inc The enclosure will prevent the operator from entering the robot s work area and will generate an emergency stop signal if the enclosure s door switch is opened while the robot is running Connect the external start stop box and door switch or light curtain to the Ext Control connector on the main unit F...

Page 13: ...opriate luer lock dispensing tip to the end of the barrel Place the barrel in the barrel holder on the robot s Z head Detailed instructions for setting up the DSP501A dispenser can be found in the manual provided with the DSP501A 2 6 For normal operation the orange TIMER NO TIMER switch on the DSP501A dispenser should be in the NO TIMER position a picture of a clock with a X through it is shown 2 ...

Page 14: ...I J4000 LF Series Operating Manual Section 3 Teaching Overview Part 562187 Rev E Jan 08 Page 14 2008 I J Fisnar Inc SECTION 3 Teaching Overview ...

Page 15: ...n the robot will move the X Y and Z axes to that location Depending on the type of point registered at that location the robot may also perform other functions such as turn the dispenser on or off The most commonly used point types are Dispense Dot Line Start Line Passing Arc Point and Line End To program the robot to dispense a dot of material the dispensing tip must be jogged to the desired XYZ ...

Page 16: ...T point type The high point of the arc is registered as an ARC POINT The end of the arc is registered as a LINE END point Lines and arcs can also be combined to dispense a bead of material along a complex path Once the required point locations for your program have been taught the teach pendant is no longer required The unit can be switched to RUN mode and operated using the buttons and switches o...

Page 17: ...he default key functions which are executed when that key is pressed alone To access the function shown in the blue area at the top of a key press and release the Shift key first then press the desired key For example to select the Speed function press and release Shift then press the Speed key When a number is required the teach pendant will automatically switch to numeric entry mode The number r...

Page 18: ...s Menu 2 Jog Keys Jogs the X axis in the left direction Jogs the X axis in the right direction Jogs the Y axis in the backward direction Jogs the Y axis in the forward direction Jogs the Z axis UP Jogs the Z axis DOWN Accelerates jog speed used with X X Y Y Z Up Z Down Navigation Display Moves forward 1 memory address Moves backward 1 memory address Moves forward 10 memory addresses Moves backward...

Page 19: ... select the current item 2 4 Jogging The tip is jogged by pressing the jog buttons If the FAST button is pressed and held first then one of the jog buttons is pressed the axis will be jogged at the maximum jog speed If one of the jog buttons is pressed first then the FAST button is pressed the jog motion will accelerate If the FAST button is released the jog motion will decelerate 2 5 Data Entry I...

Page 20: ...rent menu displayed Rotates R axis clockwise Four axis robots only Rotates R axis counter clockwise Four axis robots only Jogs the Z axis UP Jogs the Z axis DOWN Reserved for future use Reserved for future use Jogs the Y axis in the forward direction Jogs the Y axis in the backward direction Jogs the X axis in the left direction Jogs the X axis in the right direction Accelerates the jog speed when...

Page 21: ...e display to memory address number 1 Moves back 10 memory addresses Moves back 1 memory address After opening a menu use this key to move Up inside the menu Opens Menu 1 Changes the display to the last memory address used in the program Moves forward 10 memory addresses Moves forward 1 memory address After opening a menu use this key to move Down inside the menu Opens Menu 2 Jumps to a specified m...

Page 22: ...t Registers a LINE START point Registers a LINE PASSING point Undo the last change to the program Registers a LINE END point Registers an ARC POINT Re Undo the last change which was undone Redo Registers a Point Dispense Setup command Registers a Line Dispense Setup command Registers a Line Speed command Registers the End Program command Registers a Dispense On point Registers a Dispense Off point...

Page 23: ... Arc Point Registers the current XYZ location as an Arc point Arc points are used to dispense material in an arc or circle Line End Registers the current XYZ location as a Line End point End Program Registers the current memory address as the end of the program Dispense On Off Registers an instruction which turns the dispenser on or off at the current XYZ location Goto Address Causes the program t...

Page 24: ...ified amount of time before moving to the next command Stop Point After executing the current point Line start passing etc the robot will wait until the start button is pressed before moving to the next command Home Point Registers an instruction to home all axes sending them to the home position See the Setup Menu for instructions on changing the location of the home position Loop Address Causes ...

Page 25: ...ill be used from the current memory address forward until another POINT DISPENSE SETUP instruction is found Dispense End Setup Registers the height and speed the tip should raise at the end of dispensing The registered values will be used from the current memory address forward until another DISPENSE END SETUP instruction is found Z Clearance Registers the addition distance the tip should rise bey...

Page 26: ... time of the dispensing cycle Auto Purge Setup Automatically purges the system at the end of the program ESTOP Output Status After receiving the emergency stop signal ESTOP Output Status can modify the status of all the outputs or leave them as before receiving the emergency signal Acceleration Parameter that controls the robot s acceleration Pause Status Sets the position to which the tip moves a...

Page 27: ...ry addresses of the repeated instructions can be edited Program Name Allows the user to register a name for the current program number Z axis Limit mm Sets the MAXIMUM Z axis value the lowest tip position Once the Z axis limit is set the robot will prevent the tip from jogging below the set location Initial Output Port Sets the status of the output signals when the machine is initialized Debug Spe...

Page 28: ...o be copied to the Teach Pendant for transferring to another robot Relocate Data Allows the position of a program to be corrected using two reference points Corrects for X offset Y offset and angle of rotation Lock Program Locks or unlocks a program to enable or disable program editing Password Setup Allows the password to be set or reset for the current program Protects the program from unauthori...

Page 29: ...o Temp Point Retrieves a XYZ position which was stored with Save Temp Point Undo Program Cancels the last change to the program Returns to the program state prior to the last change Redo Program Restores the last change to the program which was canceled with Undo Debug Program Runs the program in Debug mode starting at the current point location Move To Home Position Causes the tip to move to the ...

Page 30: ...I J4000 LF Series Operating Manual Section 4 Programming Example Part 562187 Rev E Jan 08 Page 30 2008 I J Fisnar Inc SECTION 4 Programming Example ...

Page 31: ...e robot please follow the instructions below to create a program which dispenses in the following pattern Notes We will create the above program in program 10 We will use a line speed of 40 mm second for the lines and arcs in the program For dots we will use a dispensing time of 0 50 seconds and a waiting time of 0 1 seconds after dispensing 9 Dispense Dot 8 Dispense Dot 10 Dispense Dot ...

Page 32: ...d to be registered Press 40 then ENTER to register a speed of 40 mm second ADDR 2 PROG 10 EMPTY 6 The display shows we are at memory address 2 and that it is empty Jog the dispense tip to the first location in the diagram above 1 Line Start To jog the X and Y axes press the arrow keys X X Y and Y To jog the Z axis press the Z and Z keys Press and hold the FAST key to jog fast See SECTION 3 2 4 Jog...

Page 33: ...s the ENTER key then 6 to register the location as a Line End point ADDR 9 PROG 10 EMPTY 14 The line is now complete The next step is to register the dispense settings for the dots Press the SETUP key then 3 to register the dot dispensing time Point Dispense Setup Dis Time Tail Time unit sec 15 Type 0 5 to register a dispensing time of 0 5 seconds then press ENTER Type 0 1 to register a waiting ti...

Page 34: ...st and description of all the different setup commands refer to SECTION 3 4 2 Setup Menu and SECTION 5 2 Setup Menu 3 Editing a Program You can move through the instructions in an existing program by using the following keys Key Function 1 Moves forward 1 memory address 1 Moves backward 1 memory address FIRST Moves to the first memory address in the program END Moves to the last programmed memory ...

Page 35: ...the location is correct simply re register the point as you did when it was first taught by pressing the ENTER key and selecting the point type The point will be re registered at the new location 3 2 Insert Delete an Instruction To insert an instruction press the INS key The point currently shown in the display will be moved forward one memory address A new empty memory address will be inserted at...

Page 36: ...Changing from Teach Mode to Run Mode To change from Teach mode to Run mode change the position of the mode switch on the main unit s control panel When the machine is in Run mode the teaching box teach pendant is not required Programs can be selected and run using the switches on the front control panel of the main unit ...

Page 37: ...I J4000 LF Series Operating Manual Section 5 Point Type Function Reference Part 562187 Rev E Jan 08 Page 37 2008 I J Fisnar Inc SECTION 5 Point Type Function Reference ...

Page 38: ...pensing can be controlled by registering a Dispense End Setup instruction and or a Z Clearance instruction in a previous memory address Dispense End Setup and Z Clearance instructions are registered using the SETUP key See also SECTION 5 2 3 Point Dispense Setup SECTION 5 2 4 Dispense End Setup and SECTION 5 2 5 Z Clearance 1 2 Line Start Registers the current XYZ location as a Line Start point fo...

Page 39: ...art of the circle defined by the Over Angle the dispenser will be turned OFF Z Left 1 Yes 2 No Selection If you want the Z axis tip to lift while going through the Over Angle you must select 1 Otherwise select 2 The speed must be set in a previous memory address by registering a Line Speed instruction using the SETUP key Dispense delay times used at the start of the circle and at the end of the ci...

Page 40: ... can be controlled by registering a Line Dispense Setup instruction in a previous memory address The Line Dispense Setup instruction is registered by pressing the SETUP key See also SECTION 5 2 2 Line Dispense Setup The upward motion of the tip after dispensing can be controlled by registering a Dispense End Setup instruction and or a Z Clearance instruction in a previous memory address Dispense E...

Page 41: ...event excess material at the line end Problem Too much material at the end of the line Solution Turn the dispenser OFF before the end of the line To register a DISPENSE OFF instruction jog the tip to the XYZ location where you want the dispenser OFF enter that location as a Line Passing point then press the ENTER key and select Dispense ON OFF Press 1 to select Dispenser ON or press 2 to select Di...

Page 42: ...rk piece in the fixture then use the Step Repeat function to dispense to the other work pieces The Step Repeat function will allow the user to define the number of rows the number of columns the X Offset between each part and the Y Offset between each part If for example we have a program number 20 which dispenses four dots of material on a work piece The program would consist of the following eig...

Page 43: ...m End Program to Step Repeat X To register a Step Repeat X instruction at memory address 8 do the following Instruction Display Shows 1 Press the 1 or 1 keys until memory address 8 is shown in the display ADDR 8 PROG 20 End Program 2 Press the Enter key then press the X key to change to page 2 Select Step Repeat by pressing the key 3 Step Repeat Address 8 1 X 2 Y Start Address Columns X Rows Y 3 T...

Page 44: ...t Address 4 Columns X 4 Rows Y 6 Type 3 to specify three rows then press ENTER Step Repeat Address 8 X Offset Y Offset Unit mm 7 In the above example the X Offset between parts is 30 mm Type 30 to specify an X Offset of 30 mm then press ENTER Step Repeat Address 8 X Offset 30 Y Offset Unit mm 8 In the above example the Y Offset between parts is 25 mm Type 25 to specify 25 mm then press ENTER Step ...

Page 45: ...rogram will run in the following pattern and consists of the following instructions Address Instruction 1 Dispense End Setup H Speed 100 mm s L Speed 15 mm s L Length 5mm 2 Z Clearance Relative 10 mm 3 Point Dispense Setup Dis Time 0 25 s Tail Time 0 10 s 4 Dispense Point 5 Dispense Point 6 Dispense Point 7 Dispense Point 8 Step Repeat X Cols 4 Rows 3 X Off 30mm Y Off 25mm Addr 4 S Path 9 End Prog...

Page 46: ...r Inc Step Repeat X 1 11 Step Repeat Y Step Repeat Y works just as Step Repeat X does with one difference priority is given to the Y axis instead of the X axis 1 2 3 4 5 6 7 8 9 10 11 12 N PATH 1 2 3 4 8 7 6 5 9 10 11 12 S PATH 1 2 3 4 8 7 6 5 9 10 11 12 Step Repeat X S PATH 1 6 7 12 2 5 8 11 3 4 9 10 Step Repeat Y S PATH ...

Page 47: ...he instructions below Instruction Display Shows 1 Press ENTER to open the Point Menu POINT 1 3 1 Dispense Dot 2 Line Start 7 End Program 2 Press XÆ to go to page 2 POINT 2 3 4 Brush Area 3 Press 4 to select Brush Area Brush Area Setup 1 Rectangle 4 Rect Band 2 Circle 5 Circle Band 3 Rectangle 1 Select 4 Press the numeric key corresponding to the brush area type then press ENTER Brush Area Setup 1 ...

Page 48: ...axis a determined Brush Width distance after each pass along the X axis After registering the Brush Area Rectangle command teach a Line Start point at the top left corner of the area to be brushed and a Line End point at the bottom right corner of that area the tip will not dispense a straight line between these two points If for example a brush width of 5 mm was used the tip will take the followi...

Page 49: ...rcle After registering the Brush Area Circle command jog the tip to a point on the outside limit of the circle to be brushed and register that location as a Line Start point Then jog the tip directly across to the center of the circle and register that location as a Line End point the tip will not dispense a straight line between these two points If for example a brush width of 5 mm was used the t...

Page 50: ...th from the outside of the rectangle to the center After registering the Brush Area Rectangle 1 command teach a Line Starting point at the top left corner of the area to be brushed and a Line End point at the bottom right corner of that area the tip will not dispense a straight line between these two points If for example a brush width of 5 mm was used the tip will take the following path when the...

Page 51: ...h from the outside of the rectangle to the center After registering the Brush Area Rect Band command teach a Line Start point at the top left corner of the area to be brushed and a Line End point at the bottom right corner of that area the tip will not dispense a straight line between these two points If for example a brush width of 5 mm and band of 10mm was used the tip will take the following pa...

Page 52: ...e After registering the Brush Area Circle Band command jog the tip to a point on the outside limit of the circle to be brushed and register that location as a Line Start point Then jog the tip directly across to the center of the circle and register that location as a Line End point the tip will not dispense a straight line between these two points If for example a brush width of 5 mm and Band of ...

Page 53: ...ue at the address immediately after the Call Subroutine instruction The Call Subroutine function is most useful to repeat a pattern anywhere on the work piece as opposed to the Step Repeat function where the pattern must be repeated in straight lines at fixed distances from each other The following example illustrates the use of the Call Subroutine instruction An explanation follows Address Instru...

Page 54: ...stination program until the End Program command is reached When the destination program is executed the robot will return to the calling program 1 15 Set I O Set I O registers an instruction which either sets the value of an output signal or checks the status of an input signal When the Set I O function is registered the user is prompted to select 1 Input or 2 Output If 1 Input is selected the use...

Page 55: ...d the next instruction is executed This function uses the Home Position Setup coordinates under Setup menu if a new home position is made Otherwise it uses the default home position X 0 Y 0 Z 0 See the Setup Menu for instructions on changing the location of the home position 1 19 Loop Address Registers an instruction which will execute a group of instructions a user specified number of times When ...

Page 56: ...l can be used instead of Address number A maximum of 64 labels is permitted per program each label can have up to 8 characters 1 23 Display Counter The Display Counter instruction shows a counter at the bottom of the teach pendant screen while a program is running Every time this instruction is executed the counter increases by one and is shown again on the screen The counter begins at one 1 2 Set...

Page 57: ...rom being spilled where it is not wanted This time delay at the end of dispensing is called the Tail Time The Node Time parameter enters a wait time that only affects the Line Passing command Tip will pass through line passing point and will wait at line passing point with the dispenser activated for the time specified in the Node Time Usually the material continues flowing after the dispenser is ...

Page 58: ...spensing After dispensing a dot or line it is often required to raise the tip a short distance at a slow speed This allows the material to cleanly break free from the tip without dragging material where it is not wanted The distance and speed that the tip raises after dispensing is controlled by the L Length and L Speed settings After the tip raises the length specified by L Length at the speed sp...

Page 59: ... raise high enough to clear all obstacles as it moves from one point to another If there are no obstacles between any of the program points a small Z Clearance value such as 5 mm can be used to minimize the program cycle time Values for the Z Clearance are registered by pressing the SETUP key then choosing Z Clearance The Z Clearance value will be used by all points from that memory address forwar...

Page 60: ...Type Function Reference Part 562187 Rev E Jan 08 Page 60 2008 I J Fisnar Inc Z Clearance 10 mm RELATIVE Z Clearance 10 mm ABSOLUTE Please see SECTION 6 Sample Programs for an example of the Z Clearance instruction 10 mm Z 0 mm Z 10 mm 10 mm 10 mm Z 0 mm ...

Page 61: ...he program home position The home position is the location where the tip will move to at the end of a program cycle if the End Program or Home Point instruction is registered The default home position is X 0 Y 0 Z 0 To change the home position jog the tip to the desired location for the new home position then press Setup Home Position Setup NOTE When executing a program in TEACH MODE the robot wil...

Page 62: ...location 2 Press the SETUP key and go to page two SETUP 2 3 1 Home Position Setup 2 Adjust Position Setup 7 Acceleration Press 2 to Select Adjust Position Setup The current point will be saved automatically The point will not be registered at any address in the program but it will be saved as a global variable for the current program Set Adjust Position X 10 Y 20 Z 30 When the tip barrel is change...

Page 63: ...s correct press ENTER All the coordinates in the current program will be offset to compensate the tip offset MACHINE HOME START HOME 2 10 Retract Setup The Retract function gives the programmer a high level of tip control at the end of line dispensing It allows the tip to reverse direction back along the dispense path and up after line dispensing or move forward at an angle This is useful when dis...

Page 64: ..._________________________________________________________________ _______________________________________________________________________ _______________________________________________________________________ _______________________________________________________________________ 1 RETRACT BACK 2 RETRACT SQUARE BACK 3 RETRACT FORWARD ...

Page 65: ...nce to rise as the tip moves away from the line end must be smaller than the value of Z clearance in that point RETRACT SPEED the speed at which the tip moves along the retract path RETRACT TYPE 0 NORMAL 1 BACK 2 SQUARE BACK 3 FORWARD 4 SQUARE FORWARD Retract values will be used for all lines from the current memory address forward until another Retract instruction is found or the function is canc...

Page 66: ...tus of all the outputs as INITIAL The status On Off of the outputs is set as the status set by the Initial IO command See Initial Output Port Section 5 3 5 KEEP OUTPUT STATUS The status On Off of the outputs is left as it was before the emergency signal 2 14 Acceleration Controls the acceleration of each axis The value entered in this setting is a robot parameter and its exact relation to the robo...

Page 67: ...times apply X Offset apply Y Offset and apply Z Offset 3 1 1 Copy For example to use group edit to copy addresses 1 20 in the current program to memory address 21 40 Instruction Display Shows 1 Press the MENU 1 key then 1 to select Group Edit The display will prompt the user to enter the starting memory address of the group to edit From and the ending number of the group to edit To GROUP EDIT FROM...

Page 68: ...5 in the current program Instruction Display Shows 1 Press the MENU 1 key then 1 to select Group Edit The display will prompt the user to enter the starting memory address of the group to edit From and the ending number of the group to edit To GROUP EDIT FROM 1 TO 1 1 4000 F1 All F2 End 2 Type 15 then press ENTER to register 15 in From Type 25 then press ENTER to register 25 in To GROUP EDIT ADDR ...

Page 69: ...m Type 20 then press ENTER to register 20 in To GROUP EDIT ADDR 10 20 1 Copy 5 Dispense Time 2 Delete 6 Offset 3 Move 7 Offset R E 4 Line Speed Select 3 The Group Edit menu will then appear allowing the user to select an operation to be applied to the range of points Press 3 to select Move Then press ENTER GROUP MOVE SOURCE 10 20 Destination 4 The display will prompt the user to type the destinati...

Page 70: ...EDIT ADDR 1 200 1 Copy 5 Dispense Time 2 Delete 6 Offset 3 Move 7 Offset R E 4 Line Speed Select 3 The Group Edit menu will then appear allowing the user to select an operation to be applied to the range of points Press 4 to select Line Speed Then press ENTER GROUP LINE SPEED ADDR 1 200 Multiple Value 4 The display will prompt the user to type the Multiple Value to be applied to the line speeds Fo...

Page 71: ...0 1 Copy 5 Dispense Time 2 Delete 6 Offset 3 Move 7 Offset R E 4 Line Speed Select 3 The Group Edit menu will then appear allowing the user to select an operation to be applied to the range of points Press 5 to select Dispen Time Then press ENTER GROUP DISPENSE TIME ADDR 1 200 Multiple Value 4 The display will prompt the user to type the Multiple Value to be applied to the dispense times For examp...

Page 72: ... 200 then press ENTER to register 200 in To GROUP EDIT ADDR 1 200 1 Copy 5 Dispense Time 2 Delete 6 Offset 3 Move 7 Offset R E 4 Line Speed Select 3 The Group Edit menu will then appear allowing the user to select an operation to be applied to the range of points Press 6 to select Offset Then press ENTER GROUP OFFSET ADDR 1 200 X Offset 0 Y Offset 0 Z Offset 0 Unit mm 4 The display will prompt the...

Page 73: ...ep Repeat will expand a step and repeat instruction to the actual data it represents For example if the following program was created Before The original program occupies 9 memory addresses If the user brings memory address number 8 into the display and then selects MENU 1 Expand Step Repeat address 8 will be expanded into the 44 points which it represents bringing the total number of memory addre...

Page 74: ... name is registered it will appear on the display when that program is selected in Run mode 3 4 Z axis Limit mm Z axis Limit allows the user to limit the range of the Z axis Use the Z and Z keys to bring the Z axis to the lowest point the Z axis should be allowed to travel the highest Z axis numeric value then select Menu 1 4 Z axis Limit mm The Z axis range of motion will be limited to the curren...

Page 75: ...t signals For example Output Status X on blank OFF Decimal Value 1 2 3 4 5 6 7 8 0 1 X 2 X 4 X 8 X 16 X 32 X 64 X 128 X 3 6 Debug Speed mm s Debug Speed allows the debug speed to be set This speed is the speed at which the tip will move when running in Debug mode See also SECTION 5 5 6 Debug Program 3 7 Utility Menu Opens the Utility Menu See SECTION 5 4 Utility Menu 3 8 Jog Speed The Jog Speed se...

Page 76: ...The Program Utility menu includes four options 1 Backup Creates a backup of the current program in reserved backup location on the memory card A separate backup location is reserved for each program number 2 Restore Restores program data backed up with 1 Backup above The current program number data is restored 3 Clear Erases data in the current program number 4 Copy Copies the current program numb...

Page 77: ...e work piece fixture has been changed the program position can be adjusted automatically for the new fixture The Relocate Data function requires two reference points for the calculations Choose two point locations from your program which will be used as reference points For example to relocate the program after a fixture change Instruction Display Shows 1 In this example memory address 3 is the fi...

Page 78: ...point 1 Relocate All Point S1 3 S2 10 Type 4 and press ENTER to designate memory address number 4 as reference point 2 temp point 2 Relocate All Point S1 3 S2 4 11 The program location will be adjusted for X offset Y offset and angle of rotation 4 5 Lock or Unlock Program Lock or Unlock Program allows the user to protect a program from editing If the program is locked the user will not be able to ...

Page 79: ... press 0 and ENTER to reset the cycle counter It is also possible to cause an alarm to be generated after a fixed number of program cycles Select MENU1 Utility Menu Cycle Counter When prompted for the New Data type the number of program cycles to complete before generating the alarm and press ENTER In run mode when the set number of program cycles has been completed the display will show Counter F...

Page 80: ...rrent point location 5 7 Move To Home Position Move To Home Position will move the tip to the home location using either the default values X 0 Y 0 Z 0 or the user specified location defined in the Setup Home Position Setup command This command cannot be used as a program instruction It can be used during program editing to confirm the location of the home position 5 8 System Information System in...

Page 81: ...I J4000 LF Series Operating Manual Section 6 Sample Programs Part 562187 Rev E Jan 08 Page 81 2008 I J Fisnar Inc SECTION 6 Sample Programs ...

Page 82: ...Dispense Time 0 50 sec Tail Time 0 25 sec Sets the dispensing time for all dots to 0 5 seconds Sets the waiting time after dispensing a dot to 0 25 seconds 0004 Dispense End Setup H Speed 75 mm sec L Speed 15 mm sec L Length 10 mm Programs the robot to rise after dispensing dots and at the end of line dispensing The tip will rise 10 mm L Length at 15 mm sec L Speed then continues rising at 75 mm s...

Page 83: ...ine Sets a wait time of 0 25 seconds at the end of all lines to give the material time to stop flowing before raising the tip Sets a wait time of 0 10 sec at line passing point with the dispenser on Sets a length of 5mm before the end of the line where the dispenser will be off 0003 Dispense End Setup H Speed 75 mm sec L Speed 15 mm sec L Length 10 mm Programs the robot to rise after dispensing Th...

Page 84: ... parts are 30 mm apart in the Y axis Addr Command Notes 0001 Point Dispense Setup Dispense Time 0 50 sec Tail Time 0 25 sec Sets the dispensing time for all dots to 0 5 seconds Sets the waiting time after dispensing a dot to 0 25 seconds 0002 Dispense End Setup H Speed 75 mm sec L Speed 15 mm sec L Length 10 mm Programs the robot to rise after dispensing The tip will rise 10 mm L Length at 15 mm s...

Page 85: ...ogram Returns the tip to the home position 4 Input Output Signal Processing Sample Program The program below assumes a fixture holding 12 parts The robot will move to the first part then close output signal 1 for 0 25 seconds The robot will then check the status of input signal 1 at the first part If the signal is closed the robot will dispense a dot then move to the next part If the signal does n...

Page 86: ... 25 sec Wait for 0 25 seconds 0007 Set INPUT OUTPUT Output Port 1 Status 0 Open output signal 1 Output is turned off 0008 Set INPUT OUTPUT Input Port 1 Status 0 GOTO Addr 12 Check the status of input signal 1 If the input signal is closed pin 1 is connected to ground pin 13 the robot will go to address 0012 If input signal 1 is open pin 1 is not connected to ground the program will continue at add...

Page 87: ... 3 X Offset 25 mm Y Offset 30 mm Start Address 4 S Path Registers the Step Repeat instruction The robot will repeat addresses 0004 0011 to complete a matrix of 4x3 12 parts The distance between parts is 25 mm in the X axis and 30 mm in the Y axis The robot will follow an S Path through the parts 0014 End Program Ends the program Returns the tip to the home position ...

Page 88: ...I J4000 LF Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 88 2008 I J Fisnar Inc SECTION 7 Error Messages and Specifications ...

Page 89: ...point without first registering a Line Start point Register a Line Start point before registering a Line Passing point an Arc point or a Line End point 1 3 Need Step Repeat The Expand Step Repeat command was given but there is no Step Repeat instruction currently in the display Move to the Step Repeat function you want to expand before selecting Expand Step Repeat 1 4 Unlock Program An attempt was...

Page 90: ...r Memory An attempt was made to move data but the move would exceed the maximum memory address 1 7 System Error This message indicates a problem with the CF Memory card Please contact your dealer 2 I O Specifications 2 1 Dispenser Connector Pin Description 1 SIGNAL 2 SIGNAL 3 EARTH Notes 1 The MAXIMUM Voltage 75 VDC 2 The MAXIMUM Current 200 mA ...

Page 91: ...ev E Jan 08 Page 91 2008 I J Fisnar Inc 2 2 Ext Control Connector The pin assignments for the external control connector are as follows Pin Description 1 Start Signal 2 Start Signal 3 Door Switch COM 4 Door Switch NC 5 Door Switch NO 6 Emergency Stop 7 Emergency Stop External Control Connector ...

Page 92: ...e Photo coupler Output Power I J4100 4300 4400 LF output signals are able to provide a maximum of 12 volts I J4100 4300 4400 LF output signals are able to provide a maximum of 250 milliamps per pin Function When the output signal is closed the circuit between the output pin pin 14 21 and the 12 Volt power supply pint 22 25 is closed The output pin pin 14 21 is connected to the power supply GROUND ...

Page 93: ...ANT NOTES 1 Output signals should be used only to drive external relays Do not power external devices directly through output signals Electrical noise will damage the output signal relay 2 If an inductive load such as a relay is connected to an output signal be sure to install a diode as shown to prevent damage to the output photocoupler ...

Page 94: ...N 8 9 GND 10 GND 11 GND 12 GND 13 GND Notes 1 To close an input signal short the circuit between the input pin 1 8 and a GND ground pin any pin 9 pin 13 2 Input signals are powered by the robot internal power supply 12 volts maximum 2 5 mA 3 Check the status of an input signal using the SET I O command see SECTION 5 1 15 Set I O When the input pin pin 1 8 is connected to a GND pin pin 9 13 the val...

Page 95: ...I J4000 LF Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 95 2008 I J Fisnar Inc 2 5 Input Output Schematic ...

Page 96: ...and Specifications Part 562187 Rev E Jan 08 Page 96 2008 I J Fisnar Inc 2 6 Input Output Power Specifications I J4100 LF I J4300 LF I J4400 LF Inputs Internal Power Supply Outputs Internal Power Supply MAXIMUM Voltage 12 VDC 12 VDC MAXIMUM Current 2 5 mA 250 mA ...

Page 97: ...xis Data Memory capacity 4000 points program 100 programs Program system Compact Flash Card Processor 32 Bit Display Teach Pendant LCD Drive System Stepping Motor 3 Phase Motion Control PTP CP Linear Circular Interpolation 3 axes Teaching Method Teach Pendant I O Signals 8 Inputs 8 Outputs External Interface RS232 Power Supply Auto switching AC95 132V 150W AC180 250V 150W Auto switching AC95 132V ...

Page 98: ...I J4000 LF Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 98 2008 I J Fisnar Inc 4 Machine Dimensions 4 1 I J4100 LF Dimensions UNIT mm ...

Page 99: ...I J4000 LF Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 99 2008 I J Fisnar Inc 4 2 I J4300 LF Dimensions UNIT mm ...

Page 100: ...I J4000 LF Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 100 2008 I J Fisnar Inc 4 3 I J4400 LF Dimensions UNIT mm ...

Page 101: ...0 LF Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 101 2008 I J Fisnar Inc 4 4 Work Table Dimensions I J4100 LF UNIT mm Dimensional drawing of z axis plate ...

Page 102: ...Series Operating Manual Section 7 Error Messages and Specifications Part 562187 Rev E Jan 08 Page 102 2008 I J Fisnar Inc 4 5 Work Table Dimensions I J4300 LF I J4400 LF UNIT mm Dimensional drawing of z axis plate ...

Page 103: ...I J4000 LF Series Operating Manual Section 8 Parts Lists Part 562187 Rev E Jan 08 Page 103 2008 I J Fisnar Inc SECTION 8 Mechanical and Electrical Parts Lists ...

Page 104: ...6 B015308003 Bearing 7 B015304001 Bearing LF 1060ZZ 8 B015399001 C Clip 9 B014140001 Idle Pully Washer 10 B013309003 X Timing Belt 11 B013230003 Timing Belt Fixing Plate 12 B014100001 Timing Belt adjusting kit 13 B014102006 X Sliding Plate 14 B013230010 X Optical Switch Trigger 15 B019472003 PVC 16 A074000002 Sensor A B016450001 Alloy Hexagonal Socket Bolt M3X5L B B016450002 Alloy Hexagonal Socket...

Page 105: ...001 C Clip 9 B014140001 Idle Pully Washer 10 B013309002 Y Timing Belt 11 B013230003 Timing Belt Fixing Plate 12 B014100001 Timing Belt adjusting kit 13 B013270001 Y Sliding Plate 14 B014100002 Y Transfer Plate 15 B019472003 PVC 16 A074000002 Sensor A B016450001 Alloy Hexagonal Socket Bolt M3X5L B B016450002 Alloy Hexagonal Socket Bolt M3X10L C B016450004 Alloy Hexagonal Socket Bolt M4X10L D B01645...

Page 106: ...060ZZ 8 B015399001 C Clip 9 B014140001 Idle Pully Washer 10 B013309001 Z Timing Belt 11 B013230003 Timing Belt Fixing Plate 12 B014100001 Timing Belt adjusting kit 13 B013270002 Z Sliding Plate 14 B014100003 Z Tooling Base 15 B015306003 Z SPRING 16 A074000002 Sensor A B016450001 Alloy Hexagonal Socket Bolt M3X5L B B016450002 Alloy Hexagonal Socket Bolt M3X10L C B016450014 Alloy Hexagonal Socket Bo...

Page 107: ... Page 107 2008 I J Fisnar Inc 1 4 I J4100 LF Electronic Parts List No Part No Description A B029051002 CONTROL TRANSFER BOARD B A110025102 MOTION CONTROL BOARD C A101068001 PC CARD with CF card D A103012502 POWER SUPPLY DC 24V E B029052001 MOTOR DRIVER F B015311002 MOTOR B A D E F C ...

Page 108: ...F Series Operating Manual Section 8 Parts Lists Part 562187 Rev E Jan 08 Page 108 2008 I J Fisnar Inc 1 5 I J4100 LF Electronic Parts List Connectors Wires I O 8 3 4 6 14 15 9 16 7 2 1 13 12 11 5 DRIVER FAN FAN ...

Page 109: ...N WIRE 6 A086020402 DISPENSER CONNECTOR WIRE 7 A086060702 EXT CONTROL CONNECTOR WIRE 8 A08Y201102 TEACH PENDANT CONNECTOR POWER WIRE 9 A086000404 POWER WIRE 11 A0860Z0301 X MOTOR WIRE 12 A0860Z0302 Y MOTOR WIRE 13 A0860Z0303 Z MOTOR WIRE 14 A086020304 X SENSOR WIRE 15 A086020305 Y SENSOR WIRE 16 A086020306 Z SENSOR WIRE DRIVER A084043401 X Y Z DRIVER WIRE I O A094022601 I O WIRE WIRE No Part No De...

Page 110: ...002 Arm Plate 6 B01413004 X Sliding Plate 26 B010260007 Body Case Rear Cover 7 B012260008 Y axis Cover 27 B015308013 Timing Pulley 8 B014280001 X Front Cover 28 B013240001 Control box Plate 9 B014103003 Y Sliding Plate 29 B014270003 CF CARD Cover 10 A074000002 Sensor 30 B014100018 Timing Belt Fix kit 11 B019472005 Rubber Bumper 31 B010301010 Rail of Slide Guide 12 B015304005 Bearing 32 B013309010 ...

Page 111: ... B01413004 X Sliding Plate 26 B010260008 Body Case Rear Cover 7 B012260009 Y axis Cover 27 B015308013 Timing Pulley 8 B014280002 X Front Cover 28 B013240001 Control box Plate 9 B014103003 Y Sliding Plate 29 B014270003 CF CARD Cover 10 A074000002 Sensor 30 B014100018 Timing Belt Fix kit 11 B019472005 Rubber Bumper 31 B010301011 Rail of Slide Guide 12 B015304005 Bearing 32 B013309011 X axis timing b...

Page 112: ...08013 Timing Pulley 6 B010300001 Ball Screw Assembly for Z axis 7 B013270009 Optical Switch Trigger 8 B013270010 Z Sliding Plate 9 B014100021 Tool Fix Plate 10 B010303005 Block of Slide Guide 11 B013270001 Timing Pulley 12 B013270008 Motor Fix Plate 13 B010311004 Motor 14 B012260008 Chain Fix Plate 15 B014103003 Z axis Base Plate 16 B010301014 Rail of Slide Guide 17 B014100019 Screw Fix Plate 18 B...

Page 113: ... 4 I J4300 4400 LF Electronic Parts List No Part No Description A B029051002 CONTROL TRANSFER BOARD B A110025102 MOTION CONTROL BOARD C A101068001 PC CARD without CF card D A101461702 CF CARD READER E A103003001 POWER SUPPLY DC 30V F B029052001 MOTOR DRIVER G B010311004 MOTOR H A101126602 FAN 12V C B A E F G D H ...

Page 114: ...eries Operating Manual Section 8 Parts Lists Part 562187 Rev E Jan 08 Page 114 2008 I J Fisnar Inc 2 5 I J4300 4400 LF Electronic Parts List Connectors Wires 13 FAN 16 15 14 9 2 1 7 6 5 I O 8 3 4 X Y Z DRIVER 12 11 ...

Page 115: ... 4 A086021003 PROGRAM NO WIRE 5 A086020209 PURGE BUTTON WIRE 6 A086020307 DISPENSER CONNECTOR WIRE 7 A086060702 EXT CONTROL CONNECTOR WIRE 8 A086020210 TEACH PENDANT CONNECTOR POWER WIRE 9 A086000405 POWER WIRE 11 A083070314 X MOTOR WIRE 12 A083070315 Y MOTOR WIRE 13 A083070316 Z MOTOR WIRE 14 A083070307 X SENSOR WIRE 15 A083070308 Y SENSOR WIRE 16 A083070309 Z SENSOR WIRE DRIVER A084043401 X Y Z ...

Page 116: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 116 2008 I J Fisnar Inc SECTION 9 Maintenance and Periodic Inspection ...

Page 117: ...nts of the unit Use only the greasing materials recommended by the manufacturer of the machine The check cycles of the machine are classified in the following categories Daily check Weekly check Check after every 3 months of operation Check after every 3 years of operation 1 2 Check Cycles and Points The check points are as follows Check cycle Check point _________________________________________ ...

Page 118: ...table robot on the table Remove sources making table to vibrate Motor running Infiltration of grease Replace motor See Agent condition Degradation of performance due to overload Motions connections The axes are not moving smoothly Grease up and joints Noises vibrations and or shakes Reset and adjust gains Contact Agent for setting Unfastened loose Loose or broken bolts and nuts Tighten loose bolts...

Page 119: ...nt take decisions for the overhaul 2 Greasing Procedure 2 1 Grease Type and Greasing Interval Grease type 30 100 centistokes recommended THK AFA 70G Greasing period every 6 months 2 2 Accessing Parts to be Greased 1 Unscrew the bolts shown with arrows in the following pictures and remove the covers 2 Apply grease thinly to the surfaces of ball screw assembly shaft LM guide and slide guide 3 Put ba...

Page 120: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 120 2008 I J Fisnar Inc I J4100 LF X axis NOTE Screws are indicated by arrows ...

Page 121: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 121 2008 I J Fisnar Inc I J4100 LF Y axis NOTE Screws are indicated by arrows ...

Page 122: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 122 2008 I J Fisnar Inc I J4100 LF Z axis NOTE Screws are indicated by arrows ...

Page 123: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 123 2008 I J Fisnar Inc I J4300 LF X axis NOTE Screws are indicated by arrows ...

Page 124: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 124 2008 I J Fisnar Inc I J4300 LF Y axis NOTE Screws are indicated by arrows ...

Page 125: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 125 2008 I J Fisnar Inc I J4300 LF Z axis NOTE Screws are indicated by arrows ...

Page 126: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 126 2008 I J Fisnar Inc I J4400 LF X axis NOTE Screws are indicated by arrows ...

Page 127: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 127 2008 I J Fisnar Inc I J4400 LF Y axis NOTE Screws are indicated by arrows ...

Page 128: ...I J4000 LF Series Operating Manual Section 9 Maintenance and Periodic Inspection Part 562187 Rev E Jan 08 Page 128 2008 I J Fisnar Inc I J4400 LF Z axis NOTE Screws are indicated by arrows ...

Page 129: ...ption Part number Quantity X axis timing belt B013309003 1 Y axis timing belt B013309002 1 Z axis timing belt B013309001 1 I J4300 LF Description Part number Quantity X axis timing belt B013309010 1 Y axis timing belt B013309010 1 Z axis timing belt B013309012 1 I J4400 LF Description Part number Quantity X axis timing belt B013309011 1 Y axis timing belt B013309011 1 Z axis timing belt B013309012...

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