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Operating Manual

- Page 31 -

6.1

Before Program

Before programming the robot, please define which table you will program. You can do this by the

Table Left/Right Switch (Please see section 3.1).For example, if switch to left side, it means you are

programming the left table.

6.2

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 (White Path):

Notes:

•

We will create the above program in program # 5.

•

We will use a line speed of 50 mm / second for the lines and arcs in the program.

•

For dots, we will use a dispensing time of 1.5 seconds and a waiting time of 0.2 seconds

after dispensing.

Point 1: Line Start

Point 13: Line End

Point 2: Arc Point

Point 3: Line Passing

Point 6: Line Passing

Point 7: Line Passing

Point 10: Line Passing

Point 9: Line Passing

Point 4: Line Passing

Point 5: Arc Point

Point 8: Arc Point

Point 11: Arc Point

Point 12: Line Passing

Point 14: Dispense Dot

Point 15: Dispense Dot

Point 16: Dispense Dot

Point 17: Dispense Dot

Содержание EQ RB20 500D

Страница 1: ...Operation Manual Equipment Operation Manual Loctite EQ RB20 500D Dual Robot Part Number 2112252 ...

Страница 2: ... 1 Utility Menu 26 5 3 F3 Menu 27 5 4 F4 Menu 28 SECTION 6 PROGRAMMING 30 6 1 Before Program 31 6 2 Programming Example 31 6 3 Good Programming Practices 35 6 4 Editing a Program 36 6 4 1 Changing a Point s XYZ location 36 6 4 2 Insert Delete an Instruction 37 6 5 Changing the Program Number 38 6 6 Changing from Teach Mode to Run Mode 38 6 7 Double Table Run Mode 38 SECTION 7 FUNCTION REFERENCE 39...

Страница 3: ...7 2 6 1 Program 73 7 2 6 2 Memory 73 7 2 6 3 Teach Pendant 74 7 2 6 4 Relocate Data 74 7 2 6 5 Lock or Unlock Program 76 7 2 6 6 Password Setup 76 7 2 6 7 Key Beep 76 7 2 6 8 Test Function 76 7 2 6 9 Clear Teach Pendant Data 76 7 3 F3 Menu F3 Key 77 7 3 1 Numerical Move 77 7 3 2 Save Temp Point 77 7 3 3 Move To Temp Point 77 7 3 4 Undo Program 77 7 3 5 Redo Program 77 7 3 6 Debug Program 78 7 3 7 ...

Страница 4: ...osed Error 110 10 1 1 Need Line Start Point 110 10 1 2 Need Step Repeat 110 10 1 3 Unlock Program 110 10 1 4 Address Over Memory 111 10 1 5 Move Over Memory 111 10 1 6 System Error 111 10 1 7 Over Speed Error 111 10 2 I O Specification 112 10 2 1 Dispenser Connector 112 10 2 2 Ext Control Connector 112 10 2 3 Output Signals 113 10 2 4 Input Signal 115 10 2 5 Input Output Schematic 116 10 2 6 Input...

Страница 5: ...Operating Manual Page 5 SECTION 1 Introduction ...

Страница 6: ...ul operation of the unit read these instructions completely If the instructions are not observed the manufacturer can assume no responsibility Be sure to retain this manual for future reference WARNING Always wear temperature resistance gloves before touch the housing of dispensing head or pre heater WARNING Never remove the cover of the unit without first switching the power off and unplugging th...

Страница 7: ... Robot should only be operated in an environment between 10 and 40 degrees Celsius with humidity of 20 to 95 percent and no visible condensation Do not store or setup the robot in an area where it is directly exposed to sunlight Do not operate the robot where electrical noise is present Only use a neutral chemical for cleaning the robot Do not use alcohol benzene or thinner as it may damage the pa...

Страница 8: ...Operating Manual Page 8 SECTION 2 Setup ...

Страница 9: ...eep the shipping bracket and screws in a safe place for future use Connect one end of the Teach Pendant cable to the Teach Pendant and the other end to the Teach Pendant connection on the robot Connect the power cord of the robot to the power socket on the robot Be sure to use the correct power cord and power source for the robot model you are using 220 V Tie back all cables and air lines so that ...

Страница 10: ...Operating Manual Page 10 SECTION 3 Tour of Robot ...

Страница 11: ...START Button 6 Table Left Right Switch 7 Power Indicator 8 Purge Button 9 Teach Pendant Connector 10 PROG No 11 RS 232 12 RUN TEACH Mode Switch 13 EMO Emergency Stop 14 START Button Right Table Use with START Button 15 External Control Port 16 Dispenser Control Port 17 USB Port 18 I O Port 19 Power Inlet 20 Power Switch ...

Страница 12: ...Operating Manual Page 12 SECTION 4 Tour of Teach Pendant ...

Страница 13: ...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...

Страница 14: ... Lines and arcs can also be combined to dispense a bead of material along a complex path You cannot have 2 consecutive arc points in a program 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 the main unit control panel Line End Line Start Line End Arc Poin...

Страница 15: ...Clear and Esc are the default key functions which are executed when that key is pressed alone To access the function shown in the light grey area at the top of a key press and release the Shift key first the LED on the Shift key will be flashing 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 p...

Страница 16: ... on the display Opens the F4 Setup menu Select the options shown on the display 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 bac...

Страница 17: ...f 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 4 7Data Entry If a numeric value is required the teach pendant will automatically switch to numeric ...

Страница 18: ...current menu displayed Opens the F4 Setup Menu Used to select options shown on the display The use of this key depends on the current menu displayed Jogs the Z axis UP Jogs the Z axis DOWN 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 used with X X Y Y Z ...

Страница 19: ...ss number 1 Changes the display to the last memory address used in the program Moves back 1 memory address After opening a menu use this key to move Up inside the menu Moves forward 1 memory address After opening a menu use this key to move Down inside the menu Jumps to a specified memory address Moves the tip to the point location currently in the display Adjusts the tips position after a barrel ...

Страница 20: ... an ARC POINT Registers a Point Dispense Setup command Registers a Line Dispense Setup command Registers a Line Speed command Registers the End Program command Registers a Z Clearance command Set the dispenser Off Set the dispenser On Dry Run Program The use of this key depends on the current menu displayed The use of this key depends on the current menu displayed ...

Страница 21: ...Operating Manual Page 21 SECTION 5 MENU Introduction ...

Страница 22: ...t Arc points are used to dispense material in an arc or circle Line End Registers the current XYZ location as a Line End point This function also includes DISPENSE OFF function 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 to jump to ...

Страница 23: ...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 F4 Menu for instructions on changing the location of the home position Loop Address Causes the program to execute a group of memory addresses a user specified number ...

Страница 24: ...omatically before Dispensing Needle Adjustment Counter Set up needle adjustment counter numbers When the number is reached the system performs needle calibration Arc Dispense Setup Set up valve on time for arc dispensing The Tail Length is fictional but it s controlled by times Arc Dispense time can control valve pre shut off during arc dispensing i e If dispense time for a complete arc needs 5 se...

Страница 25: ...Y Offset apply Z Offset Expand Step Repeat Expands the memory address locations which would be performed at a Step Repeat instruction so individual memory 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...

Страница 26: ...am 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 current program Protects the program from unaut...

Страница 27: ...gram 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 home position The default home position is X 0 Y 0 Z 0 System Information Displays s...

Страница 28: ...her 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 additional distance the tip should rise beyond the height set in Dispense End Setup to allow obstacles ...

Страница 29: ... at the position where the Start button was pressed Language Opens MENU for selecting the Language Jog Speed Allows the user to set the tip jog speed for teach mode Low Middle or High jog speed can be selected Debug Speed mm s Sets the speed used when running in Debug mode Adjust Origin See Section 7 4 9 Adjust Position Setup Quickstep Path To setup the move up shape of Z axis Triangle Shape or No...

Страница 30: ...Operating Manual Page 30 SECTION 6 Programming ...

Страница 31: ...n the following pattern White Path Notes We will create the above program in program 5 We will use a line speed of 50 mm second for the lines and arcs in the program For dots we will use a dispensing time of 1 5 seconds and a waiting time of 0 2 seconds after dispensing Point 1 Line Start Point 13 Line End Point 2 Arc Point Point 3 Line Passing Point 6 Line Passing Point 7 Line Passing Point 10 Li...

Страница 32: ... 5 The robot is now waiting for the speed to be registered Press 50 then ENTER to register a speed of 50 mm second ADDR 2 PROG 5 EMPTY 6 The display shows we are at memory address 2 and that it is empty Jog the dispensing 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 F...

Страница 33: ...to 12 12 Jog the tip to the location of the thirteenth point 13 Line End When the location is correct press the to register the location as a Line End point ADDR 15 PROG 5 EMPTY 13 The line is now complete The next step is to register the dispense settings for the dots Press the to register the dot dispensing time Point Dispense Setup Time Tail Time unit sec 14 Type 1 5 to register a dispensing ti...

Страница 34: ... the location as a Dispense Dot ADDR 19 PROG 5 EMPTY 18 Jog the tip to the location of fourth dispense dot 17 Dispense Dot When the location is correct press the to register the location as a Dispense Dot ADDR 20 PROG 5 EMPTY 19 The program is now complete Press the to register address 20 as the END of the program ADDR 21 PROG 5 EMPTY 20 To run the program press the key ...

Страница 35: ...y program The following setup commands are the most commonly used Double Table Switch Dispense End Setup Point Dispense Setup Line Dispense Setup Line Speed Z Clearance Retract Setup Adjust Position Setup For a complete list and description of all the different setup commands refer to SECTION 5 4 F4 Menu and SECTION 7 4 F4 Menu ...

Страница 36: ...pecified memory address 6 4 1 Changing a Point s XYZ location To change the XYZ location of a point press the or key until the point you want to change is shown in the display You can confirm that the correct point is in the display by pressing the key This will cause the tip to move to the XYZ position shown in the display Now use the jog keys X X Y and Y and the Z Z keys to jog the tip to the ne...

Страница 37: ...struction press the key The point currently shown in the display will be moved forward one memory address A new empty memory address will be inserted at the current memory address To delete the instruction currently shown in the display press the key and then press the Yes key ...

Страница 38: ...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 6 7Double Table Run Mode You can set up Double Table Run Mode See section 7 4 ...

Страница 39: ...Operating Manual Page 39 SECTION 7 Function Reference ...

Страница 40: ...ntrolled 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 F4 key See also 7 4 3 Point Dispense Setup 7 4 4 Dispense End Setup and 7 4 5 Z Clearance 7 1 2 Line Start Registers the current XYZ location as a Line Start point for line dispensing The line speed must be s...

Страница 41: ...the Over Angle the dispenser will be turned OFF Z Lift 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 F4 key Dispense delay times used at the start of the circle and at the end of the circle can be controlled by regist...

Страница 42: ...Setup instruction in a previous memory address The Line Dispense Setup instruction is registered by pressing the F4 SETUP key See also 7 4 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 End Setup and Z Clearance instructions are registered us...

Страница 43: ... 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 Dispenser OFF ...

Страница 44: ... 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 and 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 b...

Страница 45: ... L Length 5mm 2 Z Clearance Relative 6 mm 3 Point Dispense Setup Disp Time 0 5 s Tail Time 0 20 s 4 Dispense Point 5 Dispense Point 6 Dispense Point 7 End Program If a fixture is made which holds 6 work pieces in two columns by three rows A Step Repeat X instruction can be used to repeat the program at the additional 5 locations Y Offset 15 mm X Offset 20 mm ...

Страница 46: ...ddress 7 Y Start Address Columns X Rows Y 3 Type 1 to select X direction then press ENTER Step Repeat Address 7 Y 1 Start Address Columns X Rows Y w Address w Label 4 The display will prompt you for the Start Addr The start address is the memory address of the first instruction which is part of this Step Repeat group In our example we want to repeat all instructions starting with memory address nu...

Страница 47: ...Repeat Address 7 Path 2 N Path Select 9 The display will prompt you to select 1 S Path or 2 N Path Selecting S Path will cause the first row 1 to 2 to be dispensed then the second row 2 to 1 and then the third row 1 to 2 Selecting N PATH will cause the first row 1 to 2 to be dispensed then the second row 1 to 2 and then the third row 1 to 2 Press 1 to select S PATH then press ENTER Addr 8 Prog 20 ...

Страница 48: ...s Address Instruction 1 Dispense End Setup H Speed 60 mm s L Speed 10 mm s L Length 5mm 2 Z Clearance Relative 6 mm 3 Point Dispense Setup Disp Time 0 5 s Tail Time 0 20 s 4 Dispense Point 5 Dispense Point 6 Dispense Point 7 Step Repeat X Cols 2 Rows 3 X Off 20mm Y Off 15mm Addr 4 S Path 8 End Program 1 2 4 3 5 6 ...

Страница 49: ...Path is the order in which the pieces are run Step Repeat X 7 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 4 3 5 6 S PATH N PATH 1 2 3 4 5 6 Step Repeat Y S PATH Step Repeat Y N PATH 1 6 2 5 3 4 1 4 2 5 3 6 ...

Страница 50: ...ress F1 ENTER to open the F1 Menu POINT 1 3 1 Dispense Dot 2 Line Start 7 End Program 2 Press to go to page 2 POINT 2 3 4 Brush Area 3 Press 4 to select Brush Area Brush Area Setup tangle 4 Rect Band 2 Circle 5 Circle Band 3 Rectangle 1 6 Circle 1 Select 4 Press the numeric key corresponding to the brush area type then press ENTER Brush Area Setup tangle 4 Rect Band 2 Circle 5 Circle Band 3 Rectan...

Страница 51: ...ass 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 6 mm was used the tip will take the following path when the program is run 6 mm 6 mm 6 mm 6 mm...

Страница 52: ...ation 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 tip will take the following path when the program is run Closed Circle Open Circle An open or closed option is also available for this function Sel...

Страница 53: ...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 program is run Line Start Line End Paint Area 5 mm...

Страница 54: ...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 path when the program is run Band 10mm Width 5mm Lin...

Страница 55: ...mand 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 15mm was used the tip will take the following path...

Страница 56: ...ocation as a Line Start Then jog the tip directly across on the outside limit of the circle to be brushed 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 tip will take the following path when the program is run Closed Open An open or closed option is also available for this function ...

Страница 57: ...unction 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 Instruction 1 Line Speed 20 2 Call Subroutine X1 Y1 Z1 address 7 3 Call Subroutine X2 Y2 Z2 add...

Страница 58: ... execute the program data in the destination program until the End Program command is reached When the destination program is executed the robot will return to the calling program 7 1 14 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 ...

Страница 59: ...After program completion the dispensing tip moves to the home position If used in the body of the program the tip is moved to the home position and the next instruction is executed This function uses the Home Position Setup coordinates under F4 Menu if a new home position is made Otherwise it uses the default home position X 0 Y 0 Z 0 See the F4 Menu for instructions on changing the location of th...

Страница 60: ...d 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 up to 8 characters 7 1 22Display 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 execu...

Страница 61: ...edle calibration without putting the Needle Adjustment command into program In RUN mode Press F4 Key Robot will perform Needle calibration manually Note Robot only stores the latest needle calibration data in memory 7 1 25Needle Adjustment Counter Set up needle adjustment counter numbers When the number is reached the system performs needle calibration For example Set counter number as 10 Robot wi...

Страница 62: ...t at X 10 mm Y 10 mm Z 35 mm 0007 Line Passing 10 20 35 Registers a Line Passing point at X 10 mm Y 20 mm Z 35 mm 0008 Arc 5 25 35 Registers an Arc point at X 5 mm Y 25 mm Z 35 mm 0009 Arc Dispense Time 1 sec Pre shut off valve 1 sec before Robot moves to arc end point 0010 End Program Arc Start Arc End Arc Dispense Time ...

Страница 63: ...utility which allows several different functions to be applied to a user defined group of addresses These functions include copy delete move multiply line speed multiply dispense times apply X Offset apply Y Offset and apply Z Offset 7 2 1 1 Copy For example to use group edit to copy addresses 1 10 in the current program to memory address 11 20 Instruction Display Shows 1 Press the F2 key then 1 t...

Страница 64: ...eration to be applied to the range of points Press 1 to select Copy Then press ENTER GROUP COPY E 1 10 Destination 4 The display will prompt the user to type the destination memory address where the data will be copied Press the Clear key to erase the old value then type 11 and press ENTER to select destination memory address number 21 GROUP COPY SOURCE 1 10 Destination 11 1 Yes No 3 Select 5 The ...

Страница 65: ... 1 1 4000 w All w End 2 Type 10 then press ENTER to register 15 in From Type 25 then press ENTER to register 25 in To GROUP EDIT ADDR 10 25 1 Copy 2 Delete 5 Dispense Time 3 Move 6 Offset 4 Line Speed 7 Offset R E 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 2 to select Delete Then press ENTER GROUP DELETE ADDR 10...

Страница 66: ...GROUP EDIT ADDR 10 20 y 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 E 10 20 Destination 4 The display will prompt the user to type the destination memory address where the data will be moved Press the C...

Страница 67: ...ffset 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 ple 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 will increase all speeds by 20 ...

Страница 68: ...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 Dispense Time Then press ENTER GROUP DISPENSE TIME ADDR 1 200 ple 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 will increase all dispense times by ...

Страница 69: ...T 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 user to type the X Y and Z offset amounts to be adde...

Страница 70: ...s to be corrected automatically the offset problems which can appear when changing the tip the barrel and or the item to be dispensed on The steps to be followed are similar with those shown under the function 7 2 1 6 Offset To be seen also Section 7 4 9 Adjust Position Setup ...

Страница 71: ...plus the End Program instruction at address 22 After 1 The Expand Step Repeat function is useful in situations where the user must edit selected elements in a Step Repeat group although an expanded Step Repeat instruction will occupy more memory space than an unexpanded instruction 1 2 4 3 5 6 Address Instruction 1 Dispense End Setup 2 Z Clearance 3 Point Dispense Setup 4 Dispense Point 5 Dispense...

Страница 72: ...o the lowest point the Z axis should be allowed to travel the highest Z axis numeric value then select F2 MENU F2 KEY 4 Z axis Limit mm The Z axis range of motion will be limited to the current value 7 2 5 Initial Output Port Initial Output Port sets the ON OFF status of the output signals at the start of each program cycle Initial Output Port value is the decimal representation of 8 binary bit va...

Страница 73: ...ata 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 number to a different program number 7 2 6 2 Memory Opens the Memory utility menu THE MASTER PASSWORD is 777 1 Backup Creates a backup of the entire memory contents all program numbers The backup is written to a reserved location on the m...

Страница 74: ... for X offset Y offset and angle of rotation If for example the 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 Instruct...

Страница 75: ... 6 Press 2 to save the second location in temporary position 2 Then press ENTER 7 Press F2 then 7 Utility Menu and select Relocate Data Relocate Data 1 All Points 2 Some Points SELECT 8 Press 1 to select All Points Then press ENTER Relocate All Point S1 S2 9 Type 3 and press ENTER to designate memory address number 3 as reference point 1 temp point 1 Relocate All Point S1 3 S2 10 Type 4 and press ...

Страница 76: ...rd and press ENTER If the password is left blank and ENTER is pressed the password will be removed After changing or resetting the password the robot power should be turned off The purpose of the password is to protect the program from unauthorized editing The user will not be allowed to enter TEACH mode unless the correct password is entered If the password is forgotten the master password 777 ca...

Страница 77: ... memory area numbered 1 9 The save temp point function is also used with the Relocate Data function See SECTION 7 7 2 6 4 Relocate Data 7 3 3 Move To Temp Point Move To Temp Point retrieves a XYZ position which was stored with Save Temp Point 7 3 4 Undo Program Cancel the last change to the program Returns to the program state prior to the last change 7 3 5 Redo Program Re do the last change to th...

Страница 78: ...d cannot be used as a program instruction It can be used during program editing to confirm the location of the home position 7 3 8 System Information System information will display the dispensing Software version currently installed in the robot 7 3 9 Execute Point Execute Point will run a selected command Use the keys to locate the command that you want to execute For example if you select an ad...

Страница 79: ...ine turn on the dispenser 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 preve...

Страница 80: ...t 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 The default point dispense time is set at 0 5 seconds 7 4 4 Dispense End Setup Dispense End Setup allows the L Length L Speed and H Speed values to be registered at a memory address These values will effect how far and how fas...

Страница 81: ...red with the Dispense End Setup function by pressing the F4 key then choosing Dispense End Setup Once Dispense End 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 points from that memory address forward will use the new values Please see SECTION ...

Страница 82: ...lue 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 taught point l...

Страница 83: ...d 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 7 4 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 10 mm Z 0...

Страница 84: ...int 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 F4 Home Position Setup NOTE When executing a program in TEACH MODE the robot will move to the mechanical home position X 0 Y 0 Z 0 at the start of every program cycle When executing a program in RUN MODE the robot will move to t...

Страница 85: ...s 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 the reference point is an existing point in your program press the MOVE key to bring the tip to that XYZ location 2 Press the F4 key and go to page two P S or using the key SETUP 2 3 1 Home Position Setup 2 Adjust Position Setup 7 A...

Страница 86: ...2 Press 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 different 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...

Страница 87: ...t will lay the material s tail down on the dispensed bead There are five types of the Retract Setup functions 0 Normal 1 Back 2 Square Back 3 Forward and 4 Square Forward _______________________________________________________________________ _______________________________________________________________________ _______________________________________________________________________ 0 RETRACT NOR...

Страница 88: ...________ _______________________________________________________________________ _______________________________________________________________________ _______________________________________________________________________ 2 RETRACT SQUARE BACK 3 RETRACT FORWARD 4 RETRACT SQUARE FORWARD ...

Страница 89: ...e 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 canceled 7 4 11Quickstep Causes the robot to move very fast from one point to a...

Страница 90: ... 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 7 4 13ESTOP Output Status 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 as the status set by the Initial IO command See Initial Output Port Section 7 2 5 KEEP OUTPUT STATUS The stat...

Страница 91: ...d values lower than 15 are not recommended 7 4 15Pause 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 7 4 16Language Allows end user to select operating language either English or Chinese 7 4 17Jog Sp...

Страница 92: ...emory stick which meets the below requirement A Capacity lower than 2G bytes B Format as FAT Note All downloaded programs are saved in root folder of the memory stick and programs which need to be uploading to Robot also need to be stored in root folder Upload program to USB memory stick Instruction Display Shows 1 Plug in USB Memory Stick before turning machine power on 2 F4 MENU PAGE 3 7 USB Up ...

Страница 93: ...m before The program name will show on display if you have named a program Up Load 1 00 No Name 2 07 No Name 3 16 Jean program Download program from USB to Robot Instruction Display Shows 1 Plug in USB Memory Stick before turning machine power on 2 F4 MENU PAGE 3 7 USB Up Down Load 1 Up Load To USB 2 Down Load From USB Select 3 Select 2 go to down load program menu ALL Data All of the programs in ...

Страница 94: ...e the selection Down Load 1 00 No Name 2 09 No Name 3 16 Jean program If you select program 16 Press to confirm or press to cancel Message Box Copy Program 16 From USB W Yes W No 7 4 22Circle Delay Time Setup Delay time if setup over an angle in circle command Dispenser will expand dispensing time 7 4 23Initialize Setup Allow machine to performing HOMING at each cycle To setup this feature go to I...

Страница 95: ...ge 95 7 4 24Teach Needle Adjustment Overview of the Needle Adjustment Mechanism Instruction Display Shows 1 F4 Menu Page 4 Teach needle adjustment MESSAGE BOX Press ENTER Adjust Position 2 Press ENTER MESSAGE BOX Move Tip ...

Страница 96: ...on completed 5 Press W then try to lower needle tip if you find this error information MESSAGE BOX Adjust Sensor Error W Stop W Pass 7 4 25Teach Needle Adjustment Setup Instruction Display Shows F4 Menu Page 4 Needle Adjustment Setup Needle Adjustment Setup Loop 1 1 Normal 2 Precise now Select Press numbers to set repeat times for needle calibration Then press ENTER I E To set repeat times is 3 Ne...

Страница 97: ...n press ENTER Needle Adjustment Setup Loop 3 1 Fast now 2 Precise Select 1 7 4 26Double Table Run Mode Instruction Display Shows F4 Menu Page 4 Double Table Run Mode Double Table Run Mode 1 Normal 2 Cycle Select Press numbers to set Run Mode for dual table Then press ENTER I E To set to Normal mode Double Table Run Setup 1 Normal 2 Cycle Select 1 ...

Страница 98: ...Operating Manual Page 98 SECTION 8 Sample Programs ...

Страница 99: ...ne passing point with the dispenser on Sets a length of 5mm before the end of the line where the dispenser will be off 0003 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 0004 Dispense End Setup H Speed 75 mm sec L Speed 15 mm sec L Length 10 mm Programs the robot to ri...

Страница 100: ...m Y 25 mm Z 35 mm 0009 Line Passing 10 30 35 Registers a Line Passing point at X 10 mm Y 30 mm Z 35 mm 0010 Line End 10 40 35 Registers a Line End point at X 10 mm Y 40 mm Z 35 mm 0011 Dispense Dot 20 20 35 Dispenses a dot at X 20 mm Y 20 mm Z 35 mm 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 P...

Страница 101: ...d 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 sec L Speed then continues 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 0...

Страница 102: ... 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 sec L Speed then continues rising at 75 mm sec H Speed to the Z Clearance height 0003 Z Clearance 20 mm Relative Sets the Z ...

Страница 103: ...t Part third dot 0007 Dispense Dot 185 25 35 Dispenses a dot at X 185 mm Y 25 mm Z 35 mm First Part 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 instruction 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 w...

Страница 104: ...ensing 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 sec L Speed then continues rising at 75 mm sec H Speed to the Z Clearance height 0003 Z Clearance 20 mm Relative Sets the Z Clearance valu...

Страница 105: ...OP ADDRESS Count 10 Address 8 Repeat instructions 0008 0009 10 times 10 times a wait time of 0 20 seconds 2 00 seconds 0011 GOTO Addr 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 Offset...

Страница 106: ...rforming needle calibration before dispensing start 0002 Needle Adjustment counter 5 Perform needle calibration every 5 cycles 0003 Line Speed 50 mm s Sets the line speed to 50 mm sec 0004 Line Start 10 10 35 Registers a Line Start point at X 10 mm Y 10 mm Z 35 mm 0005 Line Passing 10 20 35 Registers a Line Passing point at X 10 mm Y 20 mm Z 35 mm 0006 Line End 10 40 35 Registers a Line End point ...

Страница 107: ...Operating Manual Page 107 SECTION 9 Software Upgrade ...

Страница 108: ...ents A Capacity lower than 2G bytes B Format as FAT Upgrade Procedure 1 Create an UPOS folder on the root of Memory stick 2 Copy upgrade file to UPOS folder 3 Make sure Robot was POWER OFF 4 Plug USB memory stick into USB port on Robot panel 5 Power ON Robot 6 Robot will detect upgrade file on the USB and upgrade firmware automatically The upgrade process should take about 1 minute Robot will init...

Страница 109: ...Operating Manual Page 109 SECTION 10 Error Messages and Specifications ...

Страница 110: ...rst registering a Line Start point Resolution Register a Line Start point before registering a Line Passing point Arc point or a Line End point 10 1 2Need Step Repeat The Expand Step Repeat command was given but there is no Step Repeat instruction currently in the display Resolution Select the Step Repeat function you want to expand before selecting Expand Step Repeat 10 1 3Unlock Program An attem...

Страница 111: ...indicates a problem with the CF Memory card Resolution Please contact your dealer 10 1 7Over Speed Error This message indicates the setting speed of the address showed on the screen are over the maximum allowed speed for the robot This error may caused by high speed running for very short path shaft corner or small arc circle Note When an error occurs it will be displayed on the Teach Pendant If t...

Страница 112: ...es The MAXIMUM Voltage The MAXIMUM Current 125 VAC 12A 250 VAC 7A 30 VAC 7A 10 2 2Ext 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 ...

Страница 113: ...Operating Manual Page 113 10 2 3Output Signals Pin Description 14 DISP START OUT 15 OUT 2 16 OUT 3 17 OUT 4 18 OUT 5 19 OUT 6 20 OUT 7 21 OUT 8 22 COM 24VDC 23 COM 24VDC 24 COM 24VDC 25 COM 24VDC ...

Страница 114: ...in pin 14 21 and the 24 Volt power supply pin 22 25 is closed The output pin pin 14 21 is connected to the power supply GROUND Pins 22 25 are all the same They are all connected to the 24 volt power supply IMPORTANT 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...

Страница 115: ... GND 13 COM 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 24 volts maximum 2 5mA 3 Check the status of an input signal using the SET I O command see SECTION 7 1 14 Set I O When the input pin pin 1 8 is connected to a GND pin pin 9 13 the value of the input is 0 ...

Страница 116: ...ing Manual Page 116 10 2 5 Input Output Schematic 10 2 6Input Output Power Specifications Inputs Internal Power Supply Outputs Internal Power Supply MAXIMUM Voltage 24 VDC 24 VDC MAXIMUM Current 2 5 mA 250 mA ...

Страница 117: ...ints program 100 programs Program System Compact Flash Card Processor 32 Bit Display Teach Pendant LCD Drive System Stepping Motor Micro stepping 3 Phase Motion Control PTP CP Linear Circular Interpolation 3 Axes Teaching Method Teach Pendant I O Signals 8 Input Output External Interface RS232 Power Supply 110 220 VAC 300W Working Temperature 10 40 C Relative Humidity no condensation 20 90 Dimensi...

Страница 118: ...Operating Manual Page 118 10 4 Machine Dimensions Unit millimeters mm A Dual Benchtop RB20 500D Robot ...

Страница 119: ...Operating Manual Page 119 SECTION 11 Maintenance Accessories Spare Parts ...

Страница 120: ...nents of the unit Use only the greasing materials recommended by the manufacturer of the machine 11 1 2Check Cycles Points 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 The checkpoints are as follows CHECK POINT CHECK CYCLE Daily Weekly Every 3 months Every 3 years T...

Страница 121: ...he robot is too close to the edge of the work table Rearrange the position of the robot on the table Remove sources causing table vibration Motor running condition Infiltration of grease Performance degradation due to overload Replace motor see agent Motions connections and joints The axes are not moving smoothly Noises vibrations and or shakes Grease up Reset and adjust gains Contact agent for se...

Страница 122: ...ion Box 24V 1569523 Robot Needle Calibration Kits Mounting Bracket 1328355 Syringe Holder 30 55ml Fixed 98316 30ml Mounting Bracket Kit 98318 300ml cartridge Mounting Bracket kit 98326 98009 and 98013 Valve Mounting Bracket Kit 98327 97113 and 97114 Valve Mounting Bracket kit 98406 983914 and 986300 Poppet Valve Mounting Bracket Kit 98441 98520 Spray and 98084 Micro Needle Valve Mounting Bracket K...

Страница 123: ...cket for 98009 and 98013 Valves 98335 Tip Locator Bracket for 97113 and 97114 Valves 98407 Tip Locator Bracket for 983914 and 986300 Poppet Valve Z Height Adjustment Plate 98357 Z Height Adjustment Plate 929541 Z Height Adjustment Plate Posi LinkTM 200 400 Nests Mounting Rail 98328 3 3 4 Inch Bar with Two Cap Screws 98329 8 3 4 Inch Bar with Two Cap Screws ...

Страница 124: ...Operating Manual Page 124 SECTION 12 Equipment Warranty ...

Страница 125: ...oducts including where products parts or attachments for use in connection with the Products are available from Henkel the use of products parts or attachments which are not manufactured by Henkel no claim shall be allowed No Products shall be returned to Henkel for any reason without prior written approval from Henkel Products shall be returned freight prepaid in accordance with instructions from...

Страница 126: ...90 Ecatepac de Morelos Edo de México Henkel Corporation Automotive Metals HQ 32100 Stephenson Hwy Madison Heights MI 48071 Henkel Ltda Rua Karl Huller 136 Jd Canhema 09941 410 Diadema SP Brazil www loctite com and designate trademarks of Henkel Corporation or its affiliates registered in the U S and elsewhere Henkel Corporation 2009 All rights reserved Data in this operation manual is subject to c...

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