Loctite EQ RB20 500D, Operation Manual

Page: 13 / 126

Operating Manual
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4.1 Get Started
A program consists of a series of instructions stored in the main memory unit. Each instruction is
stored in a numbered memory address. A memory address may record a point location with an X,
Y1,Y2 and Z-axis value and point type or it may store an instruction, which sets a parameter, such
as a dispensing time or line speed.
When the program is executed, the robot will go through each memory address in sequence and
execute the instruction found there. If the memory address contains a point location, the robot will
move the X, Y1,Y2 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 location, then that location is registered as a DISPENSE DOT point type by pressing
the appropriate keys on the Teach Pendant.
To program the robot to dispense a bead of material along a linear path, the XYZ location of the
start of the line is registered as a LINE START point type. The locations where the tip changes
direction are registered as LINE PASSING points. The end of the line is registered as a LINE END
point:
The LINE START has already included DISPENSE ON function and the LINE END has already
included DISPENSE OFF function.
Line Start
Line End
Line
Passing
Line
Passing
Dispense Dot