Nordson EFD E2V Operating Manual Download Page 17

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www.nordsonefd.com [email protected]

800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

EV Series Automated Dispensing Systems

Position the Robot and Install and Connect Components

Refer to the Quick Start Guide and to this section as needed to install the system components and make
connections.

NOTES:

• The components of an automated dispensing system vary. Steps for a complete system with all available

components are provided in this manual and in the Quick Start Guide. Perform only the steps that apply to your
system.

• If the system is being used in the European Community, the robot is shipped with an enclosure or light curtain

that (1) prevents an operator from entering the robot’s work area and (2) generates an emergency stop signal if
the enclosure door switch is opened while the robot is running.

Before you begin any programming or operation, complete the following tasks as applicable for your system.

Applicability

Item

Components to Install
or Connect

Installation Tasks

All models

Input/output
safety plug
(SHORTED)

Connect the input/output safety plug to the
Ext. Control port to bypass the door switch.

CAUTION

Install this plug only if you want to bypass the
door switch. When this plug is installed, the
customer assumes all safety liability.

All models

DispenseMotion
controller

Mount the DispenseMotion controller on
the shelf.

Install the shelf-and-controller assembly on
the left upright bracket.

Connect cable(s).

All models

Pencil camera

Install the bracket.

Install the camera.

Connect the cable to USB-CCD on the
DispenseMotion controller.

Route the cable by using the provided
cable clips to attach it to the Z axis.

All models

Monitor,
keyboard, and
mouse (not
shown); dongle
for wireless
keyboard and
mouse

Connect the monitor.

Connect the wireless keyboard and mouse
dongle to USB 4 on the DispenseMotion
controller.

Continued on next page

Summary of Contents for E2V

Page 1: ...EV Series Automated Dispensing Systems Operating Manual Electronic pdf files of Nordson EFD manuals are also available at www nordsonefd com ...

Page 2: ...0 years of industrial dispensing experience Most questions you will have are answered in this manual However if you need assistance please do not hesitate to contact EFD or your authorized EFD distributor Detailed contact information is provided on the last page of this document The Nordson EFD Pledge Thank You You have just purchased the world s finest precision dispensing equipment I want you to...

Page 3: ...perating Features 13 EV Series System Component Identification 13 EV Front Panel 14 EV Back Panel 14 Camera 15 Joystick 15 Installation 16 Unpack the System Components 16 Position the Robot and Install and Connect Components 17 Check the Camera and Dispenser Installation 19 Prepare the Work Surface or Fixture Plate 20 Connect Inputs Outputs Optional 20 Power On the System 21 Concepts 22 About Prog...

Page 4: ...Programming 48 How to Automatically Update Offsets 48 How to Create and Run a Program 49 How to Lock or Unlock a Program 50 How to Measure a Path or Circle on a Workpiece 50 How to Create Patterns 51 Dispense Dot Sample Program 51 Lines and Arcs Sample Program 51 Circle Sample Program 52 How to Use the Example Icon 52 How to Create a Mark 53 How to Use Marks or Fiducial Marks in a Program 54 How t...

Page 5: ...fic pattern onto a workpiece Programs are created using the DispenseMotion software installed on the DispenseMotion controller The dispensing system may be contact or non contact with material being dispensed through either a dispensing tip or nozzle For the purposes of this manual dispensing tip refers to either a tip or a nozzle Using the precision vision camera the robot can automatically adjus...

Page 6: ...K Risk of electric shock Disconnect power before removing covers and or disconnect lock out and tag switches before servicing electrical equipment If you receive even a slight electrical shock shut down all equipment immediately Do not restart the equipment until the problem has been identified and corrected MAXIMUM AIR PRESSURE Unless otherwise noted in the product manual the maximum air input pr...

Page 7: ...g or servicing high pressure equipment A jet of high pressure fluid can cut like a knife and cause serious bodily injury amputation or death Fluids penetrating the skin can also cause toxic poisoning WARNING Any injury caused by high pressure liquid can be serious If you are injured or even suspect an injury Go to an emergency room immediately Tell the doctor that you suspect an injection injury S...

Page 8: ...e or service equipment unless you are qualified Do not operate equipment unless safety guards doors and covers are intact and automatic interlocks are operating properly Do not bypass or disarm any safety devices Keep clear of moving equipment Before adjusting or servicing moving equipment shut off the power supply and wait until the equipment comes to a complete stop Lock out power and secure the...

Page 9: ...nect switch first to prevent sparking Know where emergency stop buttons shutoff valves and fire extinguishers are located Preventive Maintenance As part of maintaining continuous trouble free use of this product Nordson EFD recommends the following simple preventive maintenance checks Periodically inspect tube to fitting connections for proper fit Secure as necessary Check tubing for cracks and co...

Page 10: ...cal regulations after one time use Do not clean components with strong solvents MEK acetone THF etc Clean cartridge retainer systems and barrel loaders with mild detergents only To prevent fluid waste use Nordson EFD SmoothFlow pistons Action in the Event of a Malfunction If a system or any equipment in a system malfunctions shut off the system immediately and perform the following steps 1 Disconn...

Page 11: ...obot in a location where it is exposed to the following Temperatures lower or higher than 0 40 C 50 104 F or humidity lower or higher than 20 95 Direct sunlight Electrical noise Flammable or corrosive gases Dust or iron powder Sources of splashing water oil or chemicals Radioactive materials magnetic fields or vacuum rooms Power and Grounding Connect the robot and accessories to a properly grounde...

Page 12: ...ternal External Power supply Auto switching AC100 240V 230 W Auto switching AC100 240V 350 W Auto switching AC100 240V 350 W Auto switching AC100 240V 350 W Auto switching AC100 240V 350 W Interpolation 3 axes 3D space 3 axes 3D space 3 axes 3D space 3 axes 3D space 3 axes 3D space Repeatability 0 008 mm axis 0 008 mm axis 0 008 mm axis 0 008 mm axis 0 008 mm axis Working temperature 10 40 C 50 10...

Page 13: ...re available worldwide EV Series Automated Dispensing Systems 13 Monitor and keyboard mouse not shown Pencil camera Robot DispenseMotion controller Syringe barrel for fluid dispensing Fixture plate optional Tip detector optional Operating Features EV Series System Component Identification Joystick optional ...

Page 14: ...PENSER PURGE button Power Switch EV Back Panel Dispenser port for dispenser controller initiation I O PORT for input output connections RS232 port connects to the DispenseMotion controller Ext Control port for the I O safety plug Operating Features continued EV Front Panel Tactile port for the tip detector if present EMERGENCY STOP button SVC USB port for software upgrades Power Inlet ...

Page 15: ... keyboard cursor keys to move the dispensing tip Refer to Accessories on page 61 for the joystick part number CAUTION Do not connect the joystick to the USB port on the front of the robot 1 Connect the joystick cable to a USB port on the DispenseMotion controller 2 Place the selector switch in the D position 3 On the Program screen of the dispensing software click the JOYSTICK icon to enable the j...

Page 16: ... Remove all system components and ship with items from the packaging 2 With assistance carefully lift the robot by its base and transfer it to a stable workbench Never lift the robot by its cross member NOTE All units are shipped from the factory with foam protectors that secure the worktable to the X axis and the Z axis to prevent movement and damage during shipment Nordson EFD recommends retaini...

Page 17: ...ng Before you begin any programming or operation complete the following tasks as applicable for your system Applicability Item Components to Install or Connect Installation Tasks All models Input output safety plug SHORTED Connect the input output safety plug to the Ext Control port to bypass the door switch CAUTION Install this plug only if you want to bypass the door switch When this plug is ins...

Page 18: ...stick to the USB port on the front of the robot Refer to Joystick on page 15 for joystick operating instructions All models Dispenser components As applicable Mount the syringe barrel or dispensing valve holder as applicable on the Z axis choose mounting holes that allow a maximum workpiece clearance but also allow the dispensing tip to reach all areas on the workpiece where dispensing is required...

Page 19: ...dwide EV Series Automated Dispensing Systems 19 Check the Camera and Dispenser Installation To prevent damage to the camera make sure the dispensing tip position is lower than bottom of the camera Example of correct camera installation dispensing tip lower than the bottom of the camera Tip bottom Camera bottom Work surface ...

Page 20: ...es on page 61 200 x 200 standard fixture plate Larger fixture plate 300 x 300 400 x 400 or 500 x 500 5 91 150 00 2 36 60 00 6X 79 20 00 2X 79 20 00 21X M4X0 7 6H THRU ALL Connect Inputs Outputs Optional All automated dispensing systems provide 8 standard inputs and 8 standard outputs Connect input output wiring to the I O PORT connection on the back of the robot For a wiring diagram refer to I O P...

Page 21: ... depressed 2 Switch on the DispenseMotion controller monitor and robot 3 Double click the DispenseMotion icon to open the dispensing software 4 Click HOME The robot moves the camera to the home position 0 0 0 and the system is ready 5 If you connected the joystick and want to use it click the JOYSTICK icon to enable it The icon turns yellow when the joystick is enabled For more information on usin...

Page 22: ...n a dispense command is registered for that location This action is repeated until the desired dispensing pattern is complete Several examples are provided below Setup commands dictate how dispense commands will be executed Nordson EFD recommends inserting setup commands at the beginning of a program The following setup commands are the most commonly used Dispense End Setup Point Dispense Setup Li...

Page 23: ...ccur when a dispensing tip or nozzle is changed Once the offsets are properly set up you can automatically update offsets at any time by clicking Needle XY Detect and or if your system includes the tip detector Needle Z Detect refer to How to Automatically Update Offsets on page 48 Offsets should be updated as follows At initial startup Any time a component installed on the Z axis such as the syri...

Page 24: ...age files on the PC Best Practices For Selecting a Mark Image The selection should be on the actual workpiece not on the fixture plate because it is the workpiece position that the system adjusts to The selection should be unique There should be only one selection of its kind within the camera view For example don t choose one of many small circles that are within the camera view Sharp features ar...

Page 25: ... page 27 Overview of the DispenseMotion Software This section provides an overview of the all the DispenseMotion software screens windows and icons This information is provided for your reference as needed To set up the system and create dispensing programs refer to Setup on page 34 and Programming on page 48 The software opens at the Program screen Refer to System Setup Screen on page 31 Refer to...

Page 26: ...up procedure under Setup on page 34 to set up the system for automatic Needle XY Adjust Needle Z Detect If the system includes a tip detector Needle Z Detect automatically adjusts the tip offset Z clearance after a dispensing tip change and then performs a Needle XY Adjust Refer to the correct offset setup procedure under Setup on page 34 to set up the system for automatic Needle Z Detect Toggle P...

Page 27: ...When the Path icon is toggled ON When the Path icon is toggled OFF When the Path icon is toggled on shows a visual representation of the programmed pattern and the Path mode icons Refer to Horizontal and Vertical Toolbar Icons on page 28 an explanation of the icons When the Path icon is toggled OFF shows an actual view of the fixture plate or workpiece surface as seen by the camera Camera Mark Lib...

Page 28: ...resh Path mode only Refreshes the Secondary View screen See all Path mode only Shows all the programed points on the Secondary View screen Magnify Path mode only Magnifies an area of the Secondary View screen Reverse line Path mode only Reverses the direction of the programmed points Select entity Path mode only Selects a group of points Move Moves the tip or camera to the XYZ location of a select...

Page 29: ...y Point Wait Point Registers the current location as a Wait Point Park Position Sends the robot to the park position Stop Point Registers the current location as a Stop Point Goto Address Skips to the specified address number in a program Goto Label Skips to the specified Label in a program Icon Name Icon Function Dispense Dot Registers the current location as a Dispense Dot point Line Start Regis...

Page 30: ...moves the fixture plate forward Y Jogs the Y axis forward moves the fixture plate backward Z Jogs the Z axis down Z Jogs the Z axis up Stop Stops the robot Home Sends the robot to the home position 0 0 0 Icon Name Icon Function Fast Fastest jogging speed Middle Medium jogging speed Slow Slowest jogging speed Relative Sets the origin relative to the coordinates of the workpiece Absolute Displays th...

Page 31: ...er to Setting System Parameters on page 34 Tip Detect Device Used to set offsets Refer to Only EV Systems With a Tip Detector Setting Up the Tip Detector on page 38 Version Shows the current version of the software Auto Purge Refer to How to Set Up Auto Purge Program Cycle Limits or Fluid Working Life Limits on page 57 Run Limit Fluid Working Life Password Refer to Setting Password Protection on p...

Page 32: ...ct Set Mark Sets a mark Refer to About Marks on page 24 and to How to Create a Mark on page 53 Cancel Cancels the last camera related action Range Sets the area within which the system searches for a mark Scale Scales the screen to match the camera view scale occurs during setup Stop Find Stops the attempt to find a mark Setup Opens the Camera Setup window that provides access to important setup f...

Page 33: ...rks Optional on page 46 Circle Size Sets the size of the yellow and green circles on the Camera screen A higher value results in a larger circle 4 sides Sets the area within which the camera searches for a mark If 4 sides is NOT checked the camera looks only within the specified range set under Range If 4 sides is checked the camera overrides the range settings and performs a full screen search fo...

Page 34: ...d may disrupt system operation Continued on next page Setting System Parameters The factory system settings are appropriate for most applications Use this procedure as needed to view or change system settings Important system settings include the following Model Selects the system model Speed The speed at which the dispensing tip moves Line Acc How the robot accelerates from one point to another N...

Page 35: ... If Offset Alarm is enabled and the result of an automatic offset performed by clicking Needle Z Detect or Needle XY Adjust is outside the XYZ values specified for Offset Alarm the system displays an alarm Language Sets the user interface language Any change takes effect upon system restart Park Position Sets the position to which the dispensing tip moves to 1 purge fluid or 2 when the Park Positi...

Page 36: ...assword is to protect the system settings from unauthorized editing NOTES The default is no password protection If the password is forgotten contact your Nordson EFD representative for assistance A password is limited to 16 numbers or characters Click Step 1 Click SYSTEM SETUP OPEN 2 Under Password enter a password or make the field blank to remove a password then click CHANGE PASSWORD The system ...

Page 37: ...arrel or camera is moved or if the relationship between the dispensing tip and or camera is altered Setup and calibration includes the following procedures Verifying the system configuration Focusing calibrating the camera Calibrating and setting the camera to tip offset Calibrating and setting the tip to workpiece offset Testing the setup NOTE Refer to About Offsets on page 23 for an explanation ...

Page 38: ... SETUP OPEN 2 Jog the tip until it is positioned about 2 mm above the sensor on the tip detector 3 Under Tip Detect Device click SET next to Move Click YES OK when prompted for confirmations 4 Under Tip Detect Device enter a value of 10 mm Z Detect Limit Click YES OK when prompted for confirmations 5 Under Tip Detect Device click DETECT Click YES OK when prompted for confirmations The robot raises...

Page 39: ... the workpiece and do the following Make sure there is sufficient clearance between the tip and the workpiece minimum of 5 mm Adjust the camera on the bracket until the viewing area of the camera at the selected height shows the area you want to view and create a dispensing program for 3 Without moving the robot loosen the screws that secure the focus dial bracket Turn the focus dial on the camera...

Page 40: ...ws an object it converts the pixels to a true measurement For the camera to make this conversion accurately you must teach the camera what the size of an object is in comparison to pixels per inch by setting the camera scale 2 Choose a point of reference on the workpiece and jog the camera so that the reference point is located in the lower right quadrant of the camera screen then click the point ...

Page 41: ...e gap between the tip and surface is reached 3 Click SET next to Needle Move This sets the XYZ coordinates for the dispense calibration point The system enters the dispensing tip coordinates in the fields under Needle Move and Set 4 Use the keypad to enter the following recommended dispense dot parameters DISPENSE 0 5 TAIL TIME 0 2 5 Click FLUID to dispense a dot of fluid The dispenser dispenses a...

Page 42: ... it over the dispense dot and then click and drag the four box handles such that they outline the dot 10 Click a socket in the Mark Library to save the mark as a Mark No then click TEMPLATE when the Template Match window appears NOTE Be sure to remember the Mark No 11 Click SETUP to go back to the Camera window Offset fields 12 Use the keypad to enter the Mark number in the Mark No field under foc...

Page 43: ...he CCD Mode icon to change to the Tip MODE 3 Jog the tip to a good reference point on the workpiece 4 Jog the tip down until it is as close to the workpiece as possible without touching the surface 5 Click CAMERA SETUP to return to the Offset fields 6 Click SET next to Focus NOTE The Set button should be bright blue 7 Click FOCUS next to Set 8 Jog the camera until the camera crosshairs are centere...

Page 44: ...ate programs How the System Responds to Needle Z Detect or Needle XY Adjust NOTE On systems with the optional tip detector both the Needle XY Adjust and Needle Z Detect buttons are present On systems without the optional tip detector only the Needle XY Adjust button is present When you click NEEDLE Z DETECT the system performs the following actions Moves the dispensing tip over the Tip Detector se...

Page 45: ...EREQUISITES The system is properly installed and set up Refer to Installation on page 16 and Setup on page 34 Input output wiring is properly connected Refer to I O Port on page 65 for wiring diagrams Click Step 1 Click SYSTEM SETUP IO 2 Click the outputs you want turn ON or OFF then click the X to close the window NOTES Inputs flash red when they are turned ON Use only inputs outputs 1 through 8 ...

Page 46: ...the Sense value is higher the camera aligns with the mark faster but with less accuracy For example a Sense value of 1 means the deviation cannot be more than one pixel When the Sense value is 200 the deviation can be up to 200 pixels NOTE For a slower find speed but better accuracy enter lower Sense and Score values for a faster find speed but less accuracy enter higher Score and Sense values Fas...

Page 47: ...ce is uneven Use the Set Z to Focus checkbox in the Expert window to set the system to automatically capture Z height values Click Step 1 Click SYSTEM SETUP OPEN EXPERT 2 11111111 Enter 11111111 then click OK 3 Click EXPERT then click CONTROL CAUTION When SET Z TO FOCUS is NOT checked the tip can collide with obstacles on uneven workpieces causing damage 4 2x In the Expert window check SET Z TO FO...

Page 48: ... tip is changed After a component on the Z axis such as the syringe barrel or camera is moved or if the relationship between the dispensing tip and or camera is altered NOTES On systems with the optional tip detector both the Needle XY Adjust and Needle Z Detect buttons are present On systems without the optional tip detector only the Needle XY Adjust button is present When the system performs a N...

Page 49: ...lick the PROGRAM tab Address 1 is available to insert a command 2 Jog the dispensing tip to a desired XYZ location by clicking the navigation icons 3 Insert a setup or dispense command that tells the robot what to do Click a command icon or double click anywhere in the address line to select a command from the drop down menu 4 Edit the command parameter settings Refer to the following sections of ...

Page 50: ...the measuring tool right click the center of Measure Length or Measure Circle and then click DELETE How to Lock or Unlock a Program Use the Lock Program checkbox on the System Setup screen to protect a program from unauthorized editing When Lock Program is checked operators can only RUN VIEW or PAUSE the currently open program Click Step 1 Open the program you want to lock It should be visible whe...

Page 51: ...nual provides example programming for some of the most common command sequences Use these examples as a guideline for making other patterns Refer to Appendix A Command Function Reference on page 67 for detailed information on all commands Refer to How to Use the Example Icon on page 52 for some pre programmed example programs already created in the DispenseMotion software Dispense Dot Sample Progr...

Page 52: ... the circle The diameter of the circle on the workpiece was measured as 5 5 mm Click the Measure Circle Diameter icon on the Camera screen to measure the diameter of a circle on a workpiece Refer to How to Measure a Path or Circle on a Workpiece on page 50 How to Use the Example Icon A selection of pre programmed sets of commands are available when you click the Example icon You can use these prog...

Page 53: ...mage 1 Click Z and Z to focus the camera 2 Click SET next to Focus in the Offset portion of the Camera Setup screen 3 Click the CAMERA tab The actual camera view appears in the Primary View screen and the Mark Library appears in the Secondary View screen 4 Click SET MARK click and drag the crosshairs of the red square over the target and click and drag the red square borders to position the square...

Page 54: ... the workpiece To check the XY orientation of a workpiece The system automatically adjusts the program to compensate for any changes in orientation PREREQUISITES The system is properly set up Refer to Setting Up and Calibrating the System Required on page 37 The system is in the CCD Mode Click Step 1 Determine whether you need to create one mark or two and then create the marks Refer to How to Cre...

Page 55: ...rkpieces are properly positioned on the fixture plate Click Step 1 Click the PROGRAM tab then click the Example icon and select FIND MARK STEP REPEAT Click YES when prompted for confirmation A sample Step Repeat X program appears NOTE You can also use Step Repeat Y to dispense onto multiple pieces in an array Refer to Appendix A Command Function Reference on page 67 for detailed information on bot...

Page 56: ...page 55 PREREQUISITES The system is properly set up Refer to Setting Up and Calibrating the System Required on page 37 The system is in the CCD Mode Multiple workpieces are properly positioned on the fixture plate The correct Step Repeat program for the array on the fixture plate is open Click Step 1 Make sure the Program screen is open 2 Click the BLOCK START icon The Run Block Select window appe...

Page 57: ...enabled for a program the number of times the system runs a program called a program cycle is limited according to the values entered for Amount and Count Amount Sets the number of times a program can run Count Shows how many times a program has run To reset Amount and Count to 0 click RESET Fluid Working Life Sets the maximum number of minutes that a fluid should be in the system also known as po...

Page 58: ...ars 3 Compare the previous XYZ position of one point in the program to its new XYZ position and determine the amount of offset for each XYZ value 4 Enter the offset values in the X Y and Z fields of the Offset window and update the other fields in this window as follows To limit the XYZ offset changes to a specific range of addresses in the program enter the address number range under RANGE To sel...

Page 59: ...OME The robot moves the camera to the home position 0 0 0 and the system is ready 4 If you connected the joystick and want to use it click the JOYSTICK icon to enable it The icon turns yellow when the joystick is enabled For more information on using the joystick refer to Joystick on page 15 5 Enable the dispensing system including the valve controller Refer to the dispensing equipment manuals as ...

Page 60: ...redefined location where a QR code is located scans the QR code opens the associated program and executes the program Pausing During a Dispense Cycle Press START at any time to pause the system during a dispense cycle the pauses at its current position NOTE If the system is paused when the dispenser is open pattern integrity will be compromised Purging the System To purge the system press the DISP...

Page 61: ...connect up to two Liquidyn V100 controllers to the robot 7362373 Single connector cable to connect a Liquidyn V200 controller to the robot Fixture Plates All plates include four edge levelers and four leveling mounts Part Description 7028276 200 mm fixture plate 7028277 300 mm fixture plate 7028278 400 mm fixture plate 7028279 500 mm fixture plate Start Stop Box The start stop box accessory facili...

Page 62: ...67 Height sensor accessory kit E EV Series Accessories continued Item Part Description 7360610 Syringe barrel mounting bracket 7361815 Mounting bracket for PICO Pµlse valves 7360613 Mounting bracket for all valves with mounting holes 752 754 725 741 736 781 787 and 782 Series valves 7361758 Universal valve mounting bracket for all valves without mounting holes 702 794 and 784SS Series valves 73611...

Page 63: ... mm 27 795 mm 31 915 mm 36 B height 435 mm 17 538 mm 21 638 mm 25 717 mm 28 717 mm 28 C depth 510 mm 20 645 mm 25 645 mm 25 815 mm 32 815 mm 32 Mounting Hole Template Use these dimensions to drill mounting holes for the robot feet Dimension E2 E3 R3 E4 R4 E5 E6 R6 PRO4 A 302 mm 11 88 400 mm 15 75 500 mm 19 69 500 mm 19 69 500 mm 19 69 535 mm 21 06 B 300 mm 11 81 410 mm 16 14 510 mm 20 08 510 mm 20...

Page 64: ... 1 NOM Normally open 2 COM Common 3 EARTH Ground 2 1 3 Pin 1 Pin 2 Pin 3 24V Relay Ext Control Port NOTES Inputs are not polarity sensitive The optional start stop box accessory facilitates input output connections to this port Refer to Start Stop Box on page 61 for part numbers Pin Description 1 Ground 2 Start signal 3 Motor power 4 Motion idle 5 Run Teach 6 Emergency stop 7 Emergency stop 1 7 Te...

Page 65: ...ted at 3 0 Amp Pin Description Pin Description Pin Description 1 Input 1 10 Not connected 19 Output 6 2 Input 2 11 GND 20 Output 7 3 Input 3 12 GND 21 Output 8 4 Input 4 13 GND 22 Not connected 5 Input 5 14 Output 1 23 Not connected 6 Input 6 15 Output 2 24 24 VDC 7 Input 7 16 Output 3 25 24 VDC 8 Input 8 17 Output 4 9 Not connected 18 Output 5 Input schematic Output schematic Pin 25 Input X 24V O...

Page 66: ... connections to a robot Inputs Pin 25 PLC Output 24V PLC SW1 Robot I O Port 24VDC Robot I O Port Pin 2 Input 2 Pin 11 Ground Pin 1 Input 1 PLC Ground Outputs External Device Powered by the Robot Pin 24 Device Robot I O Port 24VDC Pin 11 Ground Courtesy 24 VDC output is rated at 3 0 Amp Start and Emergency Stop ESTOP Connections to Ext Control Pin 2 ESTOP Start signal Ext Control port Pin 7 Emergen...

Page 67: ...f line dispensing This is useful for high viscosity or stringy fluids to control where the fluid tail falls The illustrations on the next page provide visual a representation of the Backtrack Setup selections Parameter Description Backtrack Length Distance the dispensing tip travels away from the Line End point Backtrack Gap Distance the dispensing tip raises as it moves away from the Line End poi...

Page 68: ...ated Dispensing Systems 68 Appendix A Command Function Reference continued Backtrack Setup continued Example illustrations of Backtrack Setup 0 or blank Normal Backtrack Gap 1 Back Backtrack Gap Backtrack Length 2 Square Back Backtrack Gap Backtrack Length 3 Forward Backtrack Gap Backtrack Length 4 Square Forward Backtrack Gap Backtrack Length ...

Page 69: ...gram that includes a Call Pattern command Call Subroutine Click Function Double click address and select from drop down menu A subroutine is a set of commands that is located after the end of the program Call Subroutine causes the program to jump to the subroutine at a specified address and then to execute the commands at that address When the End Subroutine command which is inside the subroutine ...

Page 70: ... 00 position Default 0 degrees Range 0 to 360 NOTE You can enter a negative value For example if you enter 90 the circle start point will be the 12 00 position End Angle The angle in degrees after the Start Angle value at which dispensing stops Default 0 degrees To dispense in a counterclockwise direction enter a negative value Dispense Dot Click Function Registers the current XYZ location as a Di...

Page 71: ... by Retract Low Speed the tip continues raising to the Z clearance height at the speed in mm s2 specified by this setting The purpose of specifying a Z clearance height is to allow the tip to raise high enough to clear any obstacles it encounters on the way to the next point Retract Distance The distance in mm the tip raises after dispensing Z Clearance Retract High Speed to Z Clearance height Ret...

Page 72: ...ientation changes between workpieces NOTES For the best results enter Fiducial Mark commands before any dispense or setup commands Two Fiducial Mark commands must be present in a program for the system to perform this adjustment function correctly A Fiducial Mark is different from a Find Mark A Find Mark is used only to check the XY position of a workpiece whereas a Fiducial Mark is used to check ...

Page 73: ...ttom right corner of that area Line Start Line End Fill Area EXAMPLE if a Width of 5 mm is entered the tip makes the following path Width 5 mm Fill Area Click Function Fills a defined area in a specific way using the specified Width and Band parameters Refer to the explanations below this table for an example of each Fill Area type Parameter Description see illustration examples Type see below for...

Page 74: ...ss to the center of the circle and enter that location as a Line End point Line End Line Start Fill Area EXAMPLE if a Width of 5 mm is entered the tip makes the following path Width 5 mm Fill Area 3 Rectangle Outer to Inner This command fills the defined area by moving the tip along a square spiral shaped path from the outside of the rectangle to the center After entering a Fill Area Rectangle com...

Page 75: ...ine End EXAMPLE If a Width of 5 mm and a Band of 15 mm are entered the tip makes the following path Band 15 mm Width 5 mm Fill Area 5 Circle Band This command fills a defined circular band area by moving the tip along a spiral path from the outside of the circle to the center After entering a Fill Area Circle Band command jog the tip to a point on the outside limit of the circle to be filled and e...

Page 76: ... workpiece Parameter Description Start Angle The angle in degrees at which the systems starts searching End Angle The angle in degrees at which the system stops searching Find Mark Click Function Causes the system to search for the mark specified in the No number field of a Find Mark command The mark is then used by the Mark Adjust command to adjust the dispensing program accordingly for any XY po...

Page 77: ...sing tip moves to the home position 0 0 0 and the robot relocates the home position using the home position sensors Input Click Function Causes the program to check for an input signal at the specified port and to turn the input ON or OFF Parameter Description Port 1 8 Sets the input port number 0 Off 1 On Turns the input OFF or ON Address or Label Causes the program to check the input at the spec...

Page 78: ...ves to the next point Node Time Delay time that occurs only for a Line Passing command The dispensing tip passes through the Line Passing point and waits at the Line Passing point with the dispenser activated for the specified time period Shutoff Distance The distance before the end of a line when the dispenser closes to prevent excess fluid from being deposited at the end of the line as shown in ...

Page 79: ...dress A or Label must occur before the current address Count The number of times to execute the loop Mark Adjust Click Function Double click address and select from drop down menu When used in tandem with the Find Mark command causes the system to search for the mark specified in the No number field of the Find Mark command When the system finds the mark it checks the XY position of the workpiece ...

Page 80: ...ng QA Capture Click Function Double click address and select from drop down menu Saves the image seen by the camera at the XYZ coordinates specified for the command Images are saved under D ever_sr history Each time a QA Capture command is executed the system creates a subdirectory under D ever_sr history that is named for the day the command was executed The file path for the saved QA images is D...

Page 81: ...ffset The distance in mm between each workpiece in the X direction Y Offset The distance in mm between each workpiece in the Y direction Columns X The number of columns in the X direction Rows Y The number of rows in the Y direction 1 S Path or 2 N Path The path of pattern travel Select 1 S Path for an S shaped pattern or 2 N Path for an N shaped pattern Label default or Address The label or addre...

Page 82: ...es Automated Dispensing Systems 82 Appendix A Command Function Reference continued Step Repeat Y Click Function Works exactly like Step Repeat X except that priority is given to the Y axis instead of to the X axis as shown below Step Repeat X Axis Direction Step Repeat Y Axis Direction Difference between Step Repeat X and Step Repeat Y ...

Page 83: ...mand The purpose of Z Clearance is to raise the tip high enough so that it clears all obstacles as it moves from one point to another If there are no obstacles between any of the points a small Z Clearance value such as 5 mm can be used to minimize the program cycle time Z Clearance is further defined as an absolute value 0 or a relative value 1 When specified as a relative value it is the distanc...

Page 84: ...ayers of the open DXF file See All Compresses or resizes the display so that all points of the open DXF file are displayed in the viewing area of the screen Zoom Zooms to the selected area Select All Selects all the points in the DXF file Icon Name Icon Function Range of Select Selects only the points within the area of the rectangle Select Directly Selects one element Cancel Select Cancels any se...

Page 85: ... 11 points Offset X Y After you create program commands using Point Dispense or Line Dispense the resulting XY values may be negative numbers This causes the imported points to display off the grid when viewed on the Secondary View screen To resolve this issue enter X and or Y values in the offset fields of the Option window such that the imported XY values change to positive values For example if...

Page 86: ... DispenseMotion controller The actual workpiece is properly positioned on the fixture plate Click Step Reference Image 1 Click DXF The DXF screen appears in the Primary View screen 2 Open the DXF file you want to convert to a program The file appears in the Primary View screen 3 or To hide or show layers click HIDE ALL LAYERS or SHOW ALL LAYERS 4 Select the points and or lines onto which you want ...

Page 87: ...s to the actual workpiece NOTES After making any change to the program click REFRESH to update the view in the Secondary View screen to show the changes You may need to zoom out to see the points This can be avoided by entering offset values in the DXF screen Option window Refer to Option X Y under Setting DXF Import Preferences on page 85 8 Click TRANSFORM The Program and Table fields appear 9 Cl...

Page 88: ... Click on a point at the far right side of the points shown in the Secondary View screen then click the bottom SET button under Program 12 Jog the tip to the same point on the actual workpiece and then click the bottom SET button under Table 13 Click CHANGE The system updates all XY locations in the program so they align with same XY locations on the actual workpiece Importing a DXF File continued...

Page 89: ...the robot fixture plate surface for example on the workpiece itself or on the workpiece fixture QR code scanning must be enabled and each QR code must be associated with a program Refer to the procedure below NOTE Bar codes are not supported To Enable QR Code Scanning Click Step Reference Image 1 Click the SYSTEM SETUP tab then click OPEN 2 Check 2D CODE to enable QR code scanning 3 Click the CAME...

Page 90: ...o scan the QR code If the system cannot identify the QR code the Nan pop up window appears 4 Adjust the THRESHOLD and EDGE SMOOTH values THRESHOLD Range 0 255 EDGE SMOOTH Range 0 5 5 Click TEST again When the system properly identifies the QR code a window like the one at right appears Repeat steps 4 and 5 until the system recognizes the QR code After the QR code is recognized continue with the ne...

Page 91: ...screen and then click RUN to test the program The system finds the QR code scans it opens the associated program and executes the program Refer to the screen captures The system is now set up for QR code scanning Refer to Running a Program by Scanning a QR Code on page 60 for an operating procedure Appendix C QR Code Scanning Setup continued To Associate a QR Code with a Program continued 1 Clicki...

Page 92: ...The required additional dispensers are installed on the robot Refer to the instructions provided with the multi dispenser bracket The system is properly set up Refer to Setting Up and Calibrating the System Required on page 37 A test workpiece is positioned on the fixture plate or work surface To Enable Multi Needles Dispensing Click Step Reference Image 1 Click the SYSTEM SETUP tab then click OPE...

Page 93: ...ip down until it as close to the crosshair target as possible without touching the target 6 Click SET next to Needle Move This sets the XYZ coordinates for the dispense calibration point The system enters the dispensing tip coordinates in the fields under Needle Move and Set 7 Jog the camera until the camera crosshairs are centered over the crosshair target then jog the Z axis until the image of t...

Page 94: ...osshair target on either the tip detector or the one you created Jog the tip down until it as close to the crosshair target as possible without touching the target 13 Click SET next to Needle Move This sets the XYZ coordinates for the dispense calibration point The system enters the dispensing tip coordinates in the fields under Needle Move and Set 14 Jog the camera until the camera crosshairs are...

Page 95: ...ns the programming process for two dispensers Repeat steps as needed to add commands for additional dispensers up to five dispensers can be installed Click Step Reference Image 1 MULTI NEEDLE Click the PROGRAM tab Double click the address row where you want to insert a Multi Needle command and select MULTI NEEDLE 2 1 Enter the number of the dispenser to dispense from at this point in the program i...

Page 96: ...K to save 8 In the Secondary View screen right click and check the NEEDLE 2 checkbox 9 Click the FOCUS icon to focus the camera Jog the camera until the camera crosshairs are centered over the desired target on the workpiece 10 Enter the required commands for Dispenser 2 for example create arc or fills 11 Click END PROGRAM to end the program The system will dispense from Dispenser 1 or Dispenser 2...

Page 97: ... the fixture plate or work surface To Enable the Height Sensor Click Step Reference Image 1 Click the SYSTEM SETUP tab then click OPEN 2 Check HEIGHT SENSOR When the height sensor is enabled the Toggle Probe button appears in the tab bar To Set Up the Height Sensor Click Step Reference Image 1 Click the CAMERA tab click SETUP at the top of the Camera screen and then click the HEIGHT SENSOR tab The...

Page 98: ... the workpiece an area that is open and will be safe for the tip to touch to test the height sensor 5 Click SET next to Sensor Move 6 Use a 1 5 mm hex wrench to loosen the set screw located inside the sensor block 7 Carefully grasp the probe with your fingers and pull it down until the bottom of the probe is about 10 mm above the workpiece 8 Tighten the set screw inside the sensor block Continued ...

Page 99: ...ollowing Continue to the next step to update the Z height values in the currently open program Continue to the next procedure in this section to use this feature in a program 11 Optional To update the Z height values in the currently open program click OFFSET PROGRAM The system checks the current Z height by lowering and raising the probe If the detected Z height value is different from the Z heig...

Page 100: ...Up the Height Sensor on page 97 The program you want to edit using the height sensor capability is open Click Step Reference Image 1 Click TOGGLE PROBE The probe extends from the height sensor 2 Jog to the location where the system should check the height for each workpiece Use the Z jog keys to lower the probe to approximately 10 mm 0 4 above the target location on the workpiece 3 HEIGHT SENSOR D...

Page 101: ...ency A signal indicating that the robot has stopped EMG B A signal indicating that the Emergency Stop button on the robot is pressed Running A signal indicating that the dispense program is currently executing Homing A signal indicating that the robot is reinitializing moving to home position Standby A signal indicating that the robot is in a standby idle position Pause A signal indicating that th...

Page 102: ...System Required on page 37 Click Step Reference Image 1 Connect the signal wiring to the I O Port on the back of the robot 2 Click SYSTEM SETUP OPEN EXPERT 3 11111111 Enter 11111111 then click OK 4 Click EXPERT then click IO PIN FUNCTION 5 Click the input or output to configure then select the configuration from the drop down menu Refer to IO Pin Function Configurations on page 101 for a descripti...

Page 103: ...of purchase to be free from defects in material and workmanship but not against damage caused by misuse abrasion corrosion negligence accident faulty installation or by dispensing material incompatible with equipment when the equipment is installed and operated in accordance with factory recommendations and instructions Nordson EFD will repair or replace free of charge any part of the equipment th...

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