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I&J7000C Series Operating Manual

Section 4: Programming Example

Part # 561978C

Rev. F Dec. 06

- Page

1 Programming

Example

To help you become familiar with programming the 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

Summary of Contents for I&J7000C

Page 1: ...I J7000C Series Operating Manual Part 561978C Rev F Dec 06 I J7000C OPERATING MANUAL ...

Page 2: ...I J7000C Series Operating Manual Part 561978C Rev F Dec 06 Page 1 2006 I J Fisnar Inc ...

Page 3: ...19 2 5 Data Entry 19 2 6 Running a Program 19 3 TEACH BOX KEY ASSIGNMENTS 20 4 POINT TYPE FUNCTION SUMMARY 24 4 1 Point Menu 24 4 2 Setup Menu 26 4 3 Menu 1 28 4 4 Utility Menu 29 4 5 Menu 2 30 SECTION 4 PROGRAMMING EXAMPLE 31 1 PROGRAMMING EXAMPLE 32 2 GOOD PROGRAMMING PRACTICES 35 3 EDITING A PROGRAM 35 3 1 Changing a Point s XYZ location 36 3 2 Insert Delete an Instruction 36 4 CHANGING THE PRO...

Page 4: ...ve Speed 62 2 8 Set Home Position 62 2 9 Retract Setup 63 2 10 Adjust Position 65 2 11 Quickstep 67 2 12 Auto Purge Setup 67 2 13 ESTOP Output 67 2 14 Acceleration Setup 68 2 15 Pause Status 68 2 16 Dispense Off Distance 68 3 MENU 1 69 3 1 Group Edit 69 3 1 1 Copy 69 3 1 2 Delete 70 3 1 3 Move 71 3 1 4 Line SP Line Speed 72 3 1 5 Dispen TM Dispense Time 73 3 1 6 Offset 74 3 2 Expand Step Repeat 75...

Page 5: ... ERROR MESSAGES 94 1 1 Point Closed Error 94 1 2 Need Line Start Point 94 1 3 Need Step Repeat 94 1 4 Unlock Program 94 1 5 Address Over Memory 95 1 6 Move Over Memory 95 1 7 System Error 95 2 I O SPECIFICATIONS 96 2 1 Ext Control Connector 96 2 2 Output Signals 97 2 3 Input Signals 99 2 4 Input Output Schematic 100 2 5 Input Output Power Specifications 101 3 SYSTEM SPECIFICATIONS 102 4 MACHINE DI...

Page 6: ...I J7000C Series Operating Manual Section 1 Introduction Part 561978C Rev F Dec 06 Page 5 2006 I J Fisnar Inc SECTION 1 Introduction ...

Page 7: ... grounded 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 J7000C robot should only be operated ...

Page 8: ...t I J7200C I J7300C or I J7400C Enclosure CE Units Only Dispenser Mounting Bracket For I J7300C and I J7400C only Barrel Holder or Valve Holder Teach Pendant Teach Pendant Cable Start Stop Box optional Dispenser Cable RS232 Cable and Null Modem Adapter I O Port Connector Power Cord Spare Screws and Hex Key Your system may also include other optional accessories If any of the above items are missin...

Page 9: ...Page 8 2006 I J Fisnar Inc 3 Connector and Switch Locations 3 1 Front View 3 2 Rear View Keyboard Port RS232 Port Teach Pendant Connector Control Panel Dispenser Cable Connector External Control Start Box Connector Input Output Port Monitor Port Power Switch Power Outlet Power Inlet ...

Page 10: ...I J7000C Series Operating Manual Section 1 Introduction Part 561978C Rev F Dec 06 Page 9 2006 I J Fisnar Inc 3 3 Control Panel ...

Page 11: ...I J7000C Series Operating Manual Section 2 Setup Part 561978C Rev F Dec 06 Page 10 2006 I J Fisnar Inc SECTION 2 Setup ...

Page 12: ...e attempting to remove the robot Place the robot on a stable workbench Do not discard the packing material or the robot s shipping bracket as these items may be needed if the robot is shipped or moved in the future 2 Remove Shipping Bracket All units are shipped from the factory with a shipping bracket installed The shipping bracket secures the worktable to the X Z head to prevent movement and dam...

Page 13: ...nd door switch or light curtain to the Ext Control connector on the main unit For further information see SECTION 7 2 1 Ext Control Connector If an enclosure is NOT being used the enclosure door switch can be bypassed by connecting the plug labeled SHORTED included in the robot accessories box to the Ext Control Connector 3 2 Standard systems are shipped with a Barrel holder which must be mounted ...

Page 14: ... setting up the DSP501A dispenser can be found in the manual provided with the DSP501A 3 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 an X through it is shown 3 7 Connect one end of the Teach Pendant Cable to the Teach Pendant and the other end to the Teach Pad connection on the front of the robot 3 8 ...

Page 15: ...I J7000C Series Operating Manual Section 3 Teaching Overview Part 561978C Rev F Dec 06 Page 14 2006 I J Fisnar Inc SECTION 3 Teaching Overview ...

Page 16: ...on 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 Point Line Start Line Passing Arc Point and Line End Point To program the robot to dispense a dot of material the dispensing tip must be jogged to the des...

Page 17: ... 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 on...

Page 18: ...e 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 re...

Page 19: ...Opens Menu 1 Opens Menu 2 Jog Keys Jogs the X axis in the direction Jogs the X axis in the direction Jogs the Y axis in the direction Jogs the Y axis in the 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 back 1 memory address Moves forward 10 memory addresses Moves back 10 memory addresse...

Page 20: ...lect 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 axis will decelerate 2 5 Data Entry If a numer...

Page 21: ... of this key depends on the current 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 direction Jogs the Y axis in the direction Jogs the X axis in the direction Jogs the X axis in the direction Accelerates the jog speed w...

Page 22: ...int List display mode to single point display when teaching point data Opens the Point registration menu Changes the 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 ...

Page 23: ...y to a position relative to the current location Enter used to confirm data entries Also opens the Point registration menu Runs the program Homes the robot Initializes all axes and moves the head to the position 0 0 0 Registers a Dispense Point 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 t...

Page 24: ... Inc Key Function 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 Registers a Z Clearance command Registers a Dummy point Registers a Circle point Adjusts the tips position after a barrel change ...

Page 25: ...splay will prompt the user for the circle diameter 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 Dispenser ON OFF Registers an instruction which manually turns the dispenser on or off a...

Page 26: ...ber from within the current program Call Job Executes the specified job number from within the current program Job data can be programmed from an external PC using the Windows Software Package Set I O Registers an instruction which either sets the value of an output signal or checks the status of an input signal Wait Point After executing the current point Line start passing etc the robot will wai...

Page 27: ...struction is found Point Dispense Setup Registers POINT DISPENSE SETUP values which sets dispensing time and waiting time at the end of dispensing tail time for dots The registered values will 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 reg...

Page 28: ...the dispensed bead after line dispensing Quickstep Causes the robot to move very fast from one point to another reducing the time of the dispensing cycle Auto Purge Setup Automatically purges the system at the end of the program ESTOP Output After receiving the emergency stop signal ESTOP Output can modify the status of all the outputs or leave them as before receiving the emergency signal Acceler...

Page 29: ...n Once the Z axis limit is set the robot will prevent the tip from jogging below the set location Initial IO Sets the status of the output signals when the machine is initialized Debug Speed Sets the speed used when running in Debug mode Utility Menu Opens the Utility Menu See SECTION 3 4 4 Utility Menu Run Mode Determines whether the robot operates in Standalone mode default or Slave mode Slave m...

Page 30: ...endant utility menu Allows the current program to 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 cur...

Page 31: ...r Temp Point Retrieve 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 Home Position Causes the tip to ...

Page 32: ...I J7000C Series Operating Manual Section 4 Programming Example Part 561978C Rev F Dec 06 Page 31 2006 I J Fisnar Inc SECTION 4 Programming Example ...

Page 33: ...ar with programming the 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 ...

Page 34: ... a line speed of 40 mm second at memory address number 1 Line Speed Setup Speed unit mm sec 5 The robot is now waiting for the speed to be registered Press 4 0 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 pre...

Page 35: ...PROG 10 EMPTY 12 Jog the tip to the location of the sixth point 6 Line Passing When the location is correct press the ENTER key then 3 to register the location as a Line Passing point ADDR 8 PROG 10 EMPTY 13 Jog the tip to the location of the sixth point 7 Line End When the location is correct press the ENTER key then 6 to register the location as a Line End point ADDR 9 PROG 10 EMPTY 14 The line ...

Page 36: ...ning of every program The following setup commands are the most used Dispense End Setup Point Dispense Setup Line Dispense Setup Line Speed Z Clearance Retract Adjust Origin For a complete list and description of all the different setup commands refer to SECTION 5 Point Type Function Reference 3 Editing a Program You can move through the instructions in an existing program by using the following k...

Page 37: ...cation Once the location is correct simply re register the point as you did when it was first taught by pressing the ENTER 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 ins...

Page 38: ... Inc 5 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 is not required Programs can be selected and run using the switches on the front control panel on the main unit ...

Page 39: ...I J7000C Series Operating Manual Section 5 Point Type Function Reference Part 561978C Rev F Dec 06 Page 38 2006 I J Fisnar Inc SECTION 5 Point Type Function Reference ...

Page 40: ... dispensing 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 poin...

Page 41: ...Speed instruction using the SETUP key Dispense delay times used at the start of the circle and the end of the circle can be controlled by registering a Line Dis Setup instruction in a previous memory address The Line Dis Setup instruction is registered by pressing the SETUP key See also SECTION 5 2 1 Line Speed and SECTION 5 2 2 Line Dispense Setup The upward motion of the tip after dispensing can...

Page 42: ...e 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 1 7 End Program Registers the current memory address as the end of the program The end program instruction will cause the tip to return to the home position at the end of the program cycle 1 8 D...

Page 43: ...ed memory address 1 10 Step Repeat X Step Repeat X allows a group of instructions to be run repeatedly stepping a given distance in the X axis or Y axis between each cycle Step Repeat X is useful when a fixture is mounted on the robot which holds many identical work pieces aligned in rows and columns The user needs only to create a program for the first work piece in the fixture then use the Step ...

Page 44: ...nstructions 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 End Program If a fixture is made which holds 12 work pieces in four columns by three rows A Step Repeat X instruction can be used to repeat the pr...

Page 45: ...p Repeat X Columns X 4 Rows Y 4 Type 3 to specify three rows then press ENTER Columns X 4 Rows Y 3 X Offset mm Y Offset mm 5 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 Columns X 4 Rows Y 3 X Offset 30 mm Y Offset mm 6 In the above example the Y Offset between parts is 25 mm Type 25 to specify 25 mm then press ENTER Rows Y 3 X O...

Page 46: ...ow 3 columns 1 to 4 Press 1 to select S PATH 9 The program is now complete Press ENTER then select End Program to mark address 9 as the new End Program instruction Press RUN to run the program The program 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 ...

Page 47: ... between S Path and N Path is the order in which the pieces are run 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 48: ... below Instruction Display Shows 1 Press ENTER to open the Point Menu POINT 1 4 1 Dispense Dot 2 Line Start 7 End Program 2 Press to go to page 2 POINT 2 4 5 Brush Area 6 Call Subroutine 7 Call Program 3 Press 5 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 Brus...

Page 49: ... and forth along the X axis while moving the Y axis a determined Brush Width distance after each pass along the X axis After registering the brush area rectangle command teach a line starting from the top left corner of the area to brush and ending at the bottom right corner If for example a brush width of 5 mm was used the tip will take the following path when the program is run 5 mm 5 mm 5 mm 5 ...

Page 50: ... from the outside of the circle to the center After registering the Brush Area circle command jog the tip to a point on the circle and register the location as a line start point Then jog the tip directly across to the center of the circle and register the location as a line end point If for example a brush width of 5 mm was used the tip will take the following path when the program is run 5 mm 5 ...

Page 51: ... the defined area by following a square spiral path from the outside of the rectangle to the center After registering the brush area rectangle_1 command teach a line starting from the top left corner of the area to brush and ending at the bottom right corner If for example a brush width of 5 mm was used the tip will take the following path when the program is run Line Start Line End Paint Area 5 m...

Page 52: ...gular band area by following a square spiral path from the outside of the rectangle to the center After registering the brush area Rect Band command teach a line starting from the top left corner of the area to brush and ending at the bottom right corner If for example a brush width of 5 mm and Band of 15mm was used the tip will take the following path when the program is run Band 15mm Width 5mm L...

Page 53: ...rom the outside of the circle to the center After registering the Brush Area Circle Band command jog the tip to a point on the circle and register the location as a line start point Then jog the tip directly across to the center of the circle and register the location as a line end point If for example a brush width of 5 mm and Band of 15mm was used the tip will take the following path when the pr...

Page 54: ...outine is reached program execution will return to address which the call was issued from and will continue to the next address The following example illustrates the use of the Call Subroutine instruction Address Instruction 1 Line Speed Speed 50 mm s 2 Z Clearance Relative 10 mm 3 Point Dispense Setup Dis Time 0 25 s Tail Time 0 10 s 4 Line Start 5 Line End 6 Call Subroutine Address 20 7 Dispense...

Page 55: ... Package For more information please see the Windows Software operation manual 1 16 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 user can enter the Input Port input 1 8 the input Status and the addr...

Page 56: ...ome all axes sending them to the home position See the Setup Menu for instructions on changing the location of the home position 1 20 Loop Address Registers an instruction which will execute a group of instructions a user specified number of times When the Loop Address instruction is registered the display will prompt for an Address and Count Address is the memory address to jump to from the curre...

Page 57: ...ialization The tip will home to position 0 0 0 0 and the robot will re find the home position using the home position sensors 1 23 Label Registers a label that can be used as a reference when used with the Goto Loop address Set I O Step repeat X Step repeat Y and Call Subroutine commands Label can be used instead of Address number A maximum of 64 labels is permitted per program each label can have...

Page 58: ...penser and wait for the time period specified in the head time setting before moving The time value can be adjusted to ensure that the material begins flowing at the same time as the line movement begins At the end of dispensing a delay is often required after the dispenser is turned off to allow the barrel pressure to equalize before moving to the next point location This prevents material from b...

Page 59: ...ound Values for the Head Time and Tail Time used when performing line dispensing are registered by pressing the SETUP key then selecting Line Dispense Setup The set values will be used by all lines from that memory address forward until new set of Line Dispense Setup values are found Please see SECTION 6 Sample Programs for an example of the Line Dispense Setup instruction Dispenser Turns Off here...

Page 60: ...s These values will effect how far and how fast the tip rises after dispensing 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...

Page 61: ...Setup values have been registered at a memory address all points after that memory address will use the values specified If Dispense End Setup values are registered again at a higher memory address all of the points from that memory address forward will use the new values Please see SECTION 6 Sample Programs for an example of the Dispense End Setup instruction H Speed 2 Tip continues rising to Z C...

Page 62: ...earance value will be used by all points from that memory address forward until another Z Clearance value is found Normally a Z clearance instruction should be registered in the beginning of a program at one of the first memory addresses The Z Clearance value may be specified as a relative value or an absolute value When specified as a relative value it is the distance to rise relative to the taug...

Page 63: ...dispensing 2 7 Z Move Speed Z Move Speed sets default Z axis movement speed as the tip moves between figures in a program such as from one dispense point to another or from the end of line dispensing to the next start of line dispensing 2 8 Set Home Position Set Home Position allows the user to change the location of the program home position The home position is the location where the tip will mo...

Page 64: ... home position set under the Setup Set Home Position 2 9 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 dispensing high viscosity or stringy materials as it will lay the material s tail do...

Page 65: ...hen back 3 in a square shape Forward The tip continues moving in the line direction up at an angle 2 The retract function requires the following parameters RETRACT LENGTH the distance to travel away from the line end point RETRACT HEIGHT the distance to rise as the tip moves away from the line end RETRACT SPEED the speed at which to move along the retract path ...

Page 66: ...djust a program s origin thereby correcting the tip s offset problem A reference point should be chosen someplace on the work piece fixture or on the work piece itself The reference point must be registered in the program data This only needs to be done one time such as when the program is originally created Instruction Display Shows 1 Jog the tip to the reference point i e X 10 Y 20 Z 30 Or if th...

Page 67: ...2 to select Adjust Origin MESSAGE BOX Press ENTER Adjust Position 3 Press the Enter key The tip will move to the reference point previously saved x 10 y 20 Z 30 If the new tip s location is slightly difference than the last tip s location you should see that the tip is not exactly at the reference point MESSAGE BOX Move TIP X10 Y20 Z30 4 Jog the tip to the correct location for the reference point ...

Page 68: ... Purge Setup command This command is very useful for two part materials that have a very short pot life For example if a Wait Time of 5s and a Purge Time of 2s is registered in the Auto Purge Setup the following chart shows the Purge pattern 2 13 ESTOP Output After receiving the emergency stop signal the robot can set the status of all the outputs as INITIAL The status On Off of the outputs is set...

Page 69: ... axes and values lower than 15 are not recommended 2 15 Pause Status Pause Status sets the position to which the tip will move after pressing the Start button There are two options Home position The tip will move to the home position Stand The tip will stay at the position where the Start button was pressed 2 16 Dispense Off Distance Usually the material continues flowing after the dispenser is of...

Page 70: ... 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 1000 2 Type 1 then press ENTER to register 1 in From Type 20 then press ENTER to register 20 in To GROUP EDIT 1 20 1 Copy 4 Line SP 2 Delete 5 Dispen TM 3 Move 6 Offset 3 The Group Edit menu will then appear allowing the user to select an operation to be applied to the range of...

Page 71: ...ess of the group to edit From and the ending number of the group to edit To GROUP EDIT FROM 1 TO 1 1 1000 2 Type 15 then press ENTER to register 15 in From Type 25 then press ENTER to register 25 in To GROUP EDIT 15 25 1 Copy 4 Line SP 2 Delete 5 Dispen TM 3 Move 6 Offset 3 The Group Edit menu will then appear allowing the user to select an operation to be applied to the range of points Press 2 to...

Page 72: ... ENTER to register 10 in From Type 20 then press ENTER to register 20 in To GROUP EDIT 10 20 1 Copy 4 Line SP 2 Delete 5 Dispen TM 3 Move 6 Offset 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 GROUP MOVE SOURCE 10 20 Destination 1 4 The display will prompt the user to type the destination memory address w...

Page 73: ... press ENTER to register 200 in To GROUP EDIT 1 200 1 Copy 4 Line SP 2 Delete 5 Dispen TM 3 Move 6 Offset 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 SP GROUP LINE SP Multiple Value 4 The display will prompt the user to type the Multiple Value to be applied to the line speeds For example a value of 1 2 ...

Page 74: ...R to register 200 in To GROUP EDIT 1 200 1 Copy 4 Line SP 2 Delete 5 Dispen TM 3 Move 6 Offset 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 Dispen TM GROUP DISPENSE TM Multiple Value 4 The display will prompt the user to type the Multiple Value to be applied to the dispense times For example a value of 1 15 w...

Page 75: ...000 2 Type 1 then press ENTER to register 1 in From Type 200 then press ENTER to register 200 in To GROUP EDIT 1 200 1 Copy 4 Line SP 2 Delete 5 Dispen TM 3 Move 6 Offset 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 GROUP OFFSET X Offset mm X Offset mm Z Offset mm 4 The display will prompt the user to ...

Page 76: ...peat address 8 will be expanded into the 44 points which it represents bringing the total number of memory addresses used to 51 plus the End Program instruction at address 52 After 1 2 3 4 8 7 6 5 9 10 11 12 Address Instruction 1 Dispense End Setup 2 Z Clearance 3 Point Dispense Setup 4 Dispense Point 5 Dispense Point 6 Dispense Point 7 Dispense Point 8 Step Repeat X Addr 4 9 End Program 1 2 3 4 8...

Page 77: ... a an un expanded instruction 3 3 Program Name Program Name allows the user to register a name for the current program If a program name is registered it will appear on the display when that program is selected in Run mode 3 4 Z Axis Limit 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 allow to travel ...

Page 78: ...binary bit values controlling the 8 output 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 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 Jog Speed The Jog Speed setting allows the user to select t...

Page 79: ...e ASCII to connect the robot to the PC 3 10 Resume The resume setting will determine if a program restarts from point 1 or from the point at which it was interrupted such as the middle of a program If Resume is set to 2 Yes and a program is stopped by an emergency stop signal or enclosure door switch open signal the program will restart from the point at which it was interrupted when the start but...

Page 80: ...t program number 4 2 Memory Opens the Memory utility menu The MASTER PASSWORD is 9999 1 Backup Creates a backup of the entire memory contents all program numbers The backup is written to a reserved location on the memory card 2 Restore Restores the entire contents of the robot memory backed up with 1 Backup above 3 Clear Erases the entire contents of the robot memory If Clear is selected the user ...

Page 81: ... this example memory address 3 is the first reference point and memory address 4 is the second reference point Jog the tip to the new correct position for the first reference point 2 Press the MENU 2 key then select Save Temp Point to save the location The display will prompt for the temporary point number to save Save temp point Save to Point 1 9 Relocate save to 1 2 point 3 Press 1 to save the f...

Page 82: ... a program from editing If the program is locked the user will not be able to change any of the program data Unlocking the program will allow the data to be changed again 4 6 Password Password allows the password to be set or reset for the current program To set the password select MENU1 Utility Menu Set Password The user will prompted for a NEW PASSWORD Type the new password and press ENTER If th...

Page 83: ...r a fixed number of program cycles Select MENU1 Utility Menu Cycle Counter When prompted for the New Val 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 Full and the start button will be disabled The machine must be powered off and the Cycle Counter must be r...

Page 84: ...umbered 1 9 The save temp point function is also used with the Relocate Data function See SECTION 5 4 4 Relocate Data 5 3 Retrieve Temp Point Retrieve Temp Point retrieves a XYZ position which was stored with Save Temp Point 5 4 Undo Program Cancels the last change to the program Returns to the program state prior to the last change 5 5 Redo Program Re does the last change to the program which was...

Page 85: ...aught using the home position command in Menu1 5 8 System Information System information will display the dispensing Software version currently installed in the robot 5 9 Execute Point Execute Point will run a selected command Use the 1 1 keys to locate the command that you want to execute For example if you select an address containing a circle the Execute Point will cause the tip to move in a ci...

Page 86: ...I J7000C Series Operating Manual Section 6 Sample Programs Part 561978C Rev F Dec 06 Page 85 2006 I J Fisnar Inc SECTION 6 Sample Programs ...

Page 87: ...g time after dispensing a dot to 0 25 seconds 0004 Dispense End Setup L Length 10 sec L Speed 15 sec H Speed 75 sec 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 continue rising at 75 mm sec H Speed to the Z Clearance height 0005 Z Clearance 20 mm Relative Sets the Z Clearance value to 20 mm relative to...

Page 88: ...C Rev F Dec 06 Page 87 2006 I J Fisnar Inc Addr Command Notes 0012 Dispense Dot 20 25 35 Dispenses a dot at X 20 mm Y 25 mm Z 35 mm 0013 Dispense Dot 20 30 35 Dispenses a dot at X 20 mm Y 30 mm Z 35 mm 0014 End Program Ends the program Returns the tip to the home position ...

Page 89: ...c H Speed 75 sec Programs the robot to rise after dispensing The tip will rise 10 mm L Length at 15 mm sec L Speed then continue rising at 75 mm sec H Speed to the Z Clearance height 0004 Z Clearance 20 mm Relative Sets the Z Clearance value to 20 mm relative to the point location The maximum height the tip will rise after dispensing is 20 mm above the Line End point 0005 Brush Area Rectangle Brus...

Page 90: ...ensing a dot to 0 25 seconds 0002 Dispense End Setup L Length 10 sec L Speed 15 sec H Speed 75 sec Programs the robot to rise after dispensing The tip will rise 10 mm L Length at 15 mm sec L Speed then continue rising at 75 mm sec H Speed to the Z Clearance height 0003 Z Clearance 20 mm Relative Sets the Z Clearance value to 20 mm relative to the point location The maximum height the tip will rise...

Page 91: ...art four dot 0008 Step Repeat Y Columns 4 Rows 3 X Offset 25 mm Y Offset 30 mm Start Address 4 S Path Registers the Step Repeat instruciton The robot will repeat addresses 0004 0007 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 0009 End Program Ends the program Returns the tip to the ...

Page 92: ... 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 L Length 10 sec L Speed 15 sec H Speed 75 sec Programs the robot to rise after dispensing The tip will rise 10 mm L Length at 15 mm sec L Speed then continue rising at 75 mm sec H Speed to the Z Clearance height 0003 Z Clearance 20 mm ...

Page 93: ...s 0010 LOOP ADDRESS Address 8 Count 10 Repeat instructions 0008 0009 10 times 10 times a wait time of 0 20 seconds 2 00 seconds 0011 GOTO 0013 If after 2 0 seconds the input signal never closed goto address 0013 Skip the dot dispensing 0012 Dispense Dot 180 20 35 Dispenses a dot at X 180 mm Y 20 mm Z 35 mm dot on the first part in the fixture 0013 Step Repeat Y Columns 4 Rows 3 X Offset 25 mm Y Of...

Page 94: ...I J7000C Series Operating Manual Section 7 Specifications Part 561978C Rev F Dec 06 Page 93 2006 I J Fisnar Inc SECTION 7 Specifications ...

Page 95: ...a Line Passing point an Arc point or a Line End point without first registering a Line Start point Register a Line Start point before registering a Line Passing 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 Ste...

Page 96: ...5 Address Over Memory An attempt was made to copy data but the copy would exceed the maximum memory address 1 6 Move Over 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 ...

Page 97: ...96 2006 I J Fisnar Inc 2 I O Specifications 2 1 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 Connector ...

Page 98: ... 20 12V 21 12V 22 12V 23 12V 24 12V 25 12V Output Type Photo coupler Output Power I J7000C output signals are able to provide a maximum of 12 volts I J7000C 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 1 9 and the 12 Volt power supply pint 12 25 is closed The output pin pin 1 9 is connected to...

Page 99: ...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 100: ...COM 42 COM 43 COM 44 COM 45 COM 46 COM 47 COM 48 COM 49 COM 50 COM Notes 1 To close an input signal short the circuit between the input pin 26 33 and a COM ground pin ANY pin 34 pin 50 2 Input signals are powered by the robot internal power supply 5 volts maximum 2 5 mA 3 Check the status of an input signal using the SET I O command see SECTION 5 SECTION 5 1 16 Set I O When the input pin pin 26 33...

Page 101: ...I J7000C Series Operating Manual Section 7 Specifications Part 561978C Rev F Dec 06 Page 100 2006 I J Fisnar Inc 2 4 Input Output Schematic ...

Page 102: ...pecifications Part 561978C Rev F Dec 06 Page 101 2006 I J Fisnar Inc 2 5 Input Output Power Specifications I J7300C and I J7400C Inputs Internal Power Supply Outputs Internal Power Supply MAXIMUM Voltage 5 VDC 12 VDC MAXIMUM Current 2 5 mA 250 mA ...

Page 103: ...sh Card Compact Flash Card Compact Flash Card Processor 32 Bit 32 Bit 32 Bit Display Teach Pendant LCD Teach Pendant LCD Teach Pendant LCD Drive System Stepping Motor 3 Phase 5 Phase 5 Phase Motion Control PTP CP PTP CP PTP CP Linear Circular Interpolation 3 axes 3 axes 3 axes Teaching Method Teach Pendant Teach Pendant Teach Pendant I O Signals 8 Inputs 8 Outputs 8 Inputs 8 Outputs 8 Inputs 8 Out...

Page 104: ...I J7000C Series Operating Manual Section 7 Specifications Part 561978C Rev F Dec 06 Page 103 2006 I J Fisnar Inc 4 Machine Dimensions 4 1 I J7200C Dimensions ...

Page 105: ...I J7000C Series Operating Manual Section 7 Specifications Part 561978C Rev F Dec 06 Page 104 2006 I J Fisnar Inc 4 2 I J7300C Dimensions ...

Page 106: ...I J7000C Series Operating Manual Section 7 Specifications Part 561978C Rev F Dec 06 Page 105 2006 I J Fisnar Inc 4 3 I J7400C Dimensions ...

Page 107: ...I J7000C Series Operating Manual Section 7 Specifications Part 561978C Rev F Dec 06 Page 106 2006 I J Fisnar Inc 5 Work Table Dimensions 5 1 I J7200C 5 2 I J7300C I J7400C ...

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