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PROPlus / PRO Series Automated Dispensing Systems

153

www.nordsonefd.com   [email protected]

   +1-401-431-7000    Sales and service of Nordson EFD dispensing systems are available worldwide.

IO Pin Function Configurations

Input Configuration

Description

Input

Default setting.

Start

A signal to start the execution of the dispense program.

Door

A signal to stop the execution of the dispense program. This configuration is to be used in 
tandem with the DOOR OPEN output configuration.

Stop

A signal to stop the execution of the dispense program.

Home

A signal to home/reinitialize the robot after a stop of the dispense program.

Table Ready

A signal to indicate that the system is ready to execute the dispense program. The dispense 
program will not execute if the input signal is off. This configuration is to be used in tandem with 
the TABLE READY output configuration.

Pause

A signal to pause the execution of the dispense program.

Call Program

A signal to initiate a different program. Use the Call Program selection from the Expert menu to 
specify the program to call.

Output Configuration

Description

Output

Default setting.

Emergency

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 the dispense program is paused.

System Start

A signal indicating that the DispenseMotion software is open and running.

Table Ready

A signal indicating that the system is ready to execute the dispense program. This configuration 
is to be used in tandem with the TABLE READY input configuration.

Door Open

A signal indicating that the door is open. This configuration is to be used in tandem with the 
DOOR input setting.

No Start Trigger

A signal indicating that the program cannot run until the TABLE READY input signal is ON. 
When the TABLE READY input is ON, the NO START TRIGGER indication switches OFF. 
This configuration must be used with the TABLE READY input and the TABLE READY output 
configurations.

Teach Mode

A signal indicating that the robot is in the Teach mode. This signal can be used when the 
external start / stop box is present.

Calibration Execution

A signal indicating that the robot is performing a Needle Z Detect or a Needle XY Adjust.

Positional Error

A signal indicating an over-limit warning after a general over-limit warning from program 
execution occurs.

In Home

A signal indicating that the tip is in the Park Position.

Appendix G, I/O Pin Function Setup

The I/O Pin Function capability, accessed through the Expert menu on the 
System Setup screen, provides a set of user-configurable conditions that 
can be assigned to the available inputs and outputs on the I/O Port. These 
conditions affect the operation of the robot.

Содержание PRO Series

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

Страница 2: ...than 50 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 ...

Страница 3: ... Back Panel 16 Camera 17 Laser PROPlus L PRO L Only 17 Installation 18 Unpack the System Components 18 Position the Robot and Install and Connect Components 19 Check the Camera Laser PROPlus L PRO L Only and Dispenser Installation 21 Prepare the Work Surface or Fixture Plate 22 Connect Inputs Outputs Optional 23 Power On the System 24 Concepts 25 About Programs and Commands 25 About Offsets 26 Abo...

Страница 4: ...Program 66 Lines and Arcs Sample Program 66 Circle Sample Program 67 How to Use the Example Icon 67 How to Dispense on Multiple Workpieces in an Array 68 How to Disable Dispensing for Specific Workpieces in an Array 69 How to Create a Mark 70 How to Improve the Accuracy of Mark Searches 71 How to Use Marks or Fiducial Marks in a Program 72 How to Use Trig Marks in a Step Repeat Program 73 Method 1...

Страница 5: ...n onto a workpiece They are specifically designed and configured for use with Nordson EFD industrial syringe barrel and valve systems Automated dispensing systems offer the flexibility of working either as a stand alone system or as a key part of an automated solution and are easily integrated into in line transfer systems rotary tables and pallet assembly lines The primary components of an automa...

Страница 6: ... SHOCK 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 inp...

Страница 7: ...usting 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 inj...

Страница 8: ...lified 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 equipment to prevent unexpected movement...

Страница 9: ...isconnect 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 a...

Страница 10: ... to local 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 D...

Страница 11: ...emicals Radioactive materials magnetic fields or vacuum rooms Power and Grounding Connect the robot and accessories to a properly grounded power source Make sure the system is connected to the correct voltage Operation and Service Turn on the dust collection system before operating the robot Do not drop or spill foreign objects or material such as screws or liquids into the robot Do not overload t...

Страница 12: ...vomotor Memory capacity PC storage PC storage PC storage PC storage Data storage PC storage USB PC storage USB PC storage USB PC storage USB General purpose I O 8 inputs 8 outputs 16 16 optional 8 inputs 8 outputs 16 16 optional 8 inputs 8 outputs 16 16 optional 8 inputs 8 outputs 16 16 optional Drive method PTP and CP PTP and CP PTP and CP PTP and CP Dispensing controller External External Extern...

Страница 13: ...torage PC storage PC storage Data storage PC storage USB PC storage USB PC storage USB PC storage USB General purpose I O 8 inputs 8 outputs 16 16 optional 8 inputs 8 outputs 16 16 optional 8 inputs 8 outputs 16 16 optional 8 inputs 8 outputs 16 16 optional Drive method PTP and CP PTP and CP PTP and CP PTP and CP Dispensing controller External External External External Input AC to power supply 10...

Страница 14: ...分或有害物质含量依照EIP A EIP B EIP C 的标准低于SJ T11363 2006 限定要求 Indicates that this toxic or hazardous substance contained in all the homogeneous materials for this part according to EIP A EIP B EIP C is below the limit requirement in SJ T11363 2006 X 表示该产品所含有的危险成分或有害物质含量依照EIP A EIP B EIP C 的标准高于SJ T11363 2006 限定要求 Indicates that this toxic or hazardous substance contained in all the homogeneous materials fo...

Страница 15: ...tems are available worldwide Operating Features PROPlus PRO Series System Component Identification Monitor and keyboard mouse not shown CCD camera and light Robot DispenseMotion controller Syringe barrel for fluid dispensing Light controller Fixture plate Laser controller laser systems only Laser laser systems only X axis Z axis Y a x i s Tip detector ...

Страница 16: ...oftware upgrades DISPENSER PURGE button Power Switch PROPlus PRO Back Panel Dispenser port for dispenser controller initiation I O PORT for input output connections RS232 1 port connects to the DispenseMotion controller Ext Control port for the I O safety plug Tactile Laser port for the laser and or tip detector connections Power Inlet Operating Features continued PROPlus PRO Front Panel RS232 2 p...

Страница 17: ...t controller Fixed focal length Separate light source with light controller Variety of lenses available for different focal lengths fields of view etc Refer to Accessories on page 100 for the optional lens kit part number Laser PROPlus L PRO L Only The laser can read the distance between the tip or nozzle and the substrate Because it is a non contact device it can be used to measure the surface he...

Страница 18: ...ance 1 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 r...

Страница 19: ...ll 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 ...

Страница 20: ... Install the tip detector Connect the cable to the Tactile Laser port on the back of the robot 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 All models Dispenser components As applicable Mount the syringe barrel or dispensing valve holder as applicab...

Страница 21: ...ake sure the dispensing tip position is lower than bottom of the camera and laser Example of correct laser positioning higher than the bottom of the tip for a syringe barrel installation Example of correct laser positioning higher than the bottom of the tip for a PICO valve installation Camera focal distance Laser scope Tip distance from robot work surface lower than camera and laser Tip bottom Ca...

Страница 22: ...late Prepare the robot work surface or the optional fixture plate for secure placement of the workpiece Fixture plate mounting hole templates are provided below 11 81 300 00 11 81 300 00 7X 1 57 40 00 7X 1 57 40 00 64X M4X0 7 6H THRU ALL Fixture Plate Mounting Hole Template for PRO4 Robots NOTE Dimensions are in inches millimeters Fixture Plate Mounting Hole Template for PROPlus4 Robots NOTE All d...

Страница 23: ...onnect input output wiring to the I O PORT connection on the back of the robot For a wiring diagram refer to I O Port on page 106 There are several ways to use the system inputs outputs Refer to Setting Up Inputs Outputs on page 58 for additional information on inputs outputs Fixture Plate Mounting Hole Template for PRO3 Robots NOTE All dimensions are in mm Fixture Plate Mounting Hole Template for...

Страница 24: ...put safety plug is installed if applicable EMERGENCY STOP button on the front panel of the robot is not depressed 2 Switch on the DispenseMotion controller monitor robot and light controller 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 Enable the dispensing system including the va...

Страница 25: ...then 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 Backtrack Setup Dispense Dot Setup Disp...

Страница 26: ...hat occur when a dispensing tip or nozzle is changed Offsets are taught to the robot during the setup and calibration process which is guided by the Robot Initial Setup wizard This process must be performed for initial startup and also after any change to the system Examples of system changes include the following Any time a component installed on the Z axis such as the syringe barrel or camera is...

Страница 27: ...ispenseMotion controller 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 featur...

Страница 28: ...f all the DispenseMotion software screens windows and icons This information is provided for your reference as needed To set up the system and create dispense programs refer to Setup on page 43 and Programming on page 63 The software opens at the Program screen Refer to Horizontal and Vertical Toolbar Icons on page 34 Refer to System Setup Screen on page 38 Refer to Camera Screen Tab Bar and Icons...

Страница 29: ...pen the window for that command Each command window contains the parameters if any that can be set for the command Refer to Appendix A Command Function Reference on page 108 for detailed information on all commands and associated parameters Command address A Double click to open the command drop down menu Command edit drop down menu Click a command to open its command window Command window Enter p...

Страница 30: ...more information Needle XY Adjust Automatically checks and adjusts the XY offsets without touching the tip to any surface This button is present only when Needle XY Adjust is enabled on the System Setup screen The system must be properly setup as described under Setting Up and Calibrating the System Required on page 47 Needle Z Detect Automatically checks and adjusts the tip to workpiece offset Z ...

Страница 31: ... for the selected command Paste Pastes a cut or copied command into the selected command address Change Command Type Changes the selected command to a different command type Jump To Jumps to a specific Address command or Label command Reflect Flips the selected commands along the X or Y axis thus creating a mirror image An example is provided below Rotate Angle Rotates the selected commands by a s...

Страница 32: ...l and Vertical Toolbar Icons on page 34 for an explanation of the icons Refer to Secondary View Screen in Path View on page 33 for additional path view functionality When the Path icon is toggled OFF 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 Library Stores up to 240 mark files System Setup Path view and keypad...

Страница 33: ...ted point and connects the previous command with the next command Optimize Path Opens a path for editing Select Line Path Start and Line Path End to edit the Line Start and Line End points of the pattern Select Arc Path Start and Arc Path End to edit the beginning and end points of an Arc point Select Line Selects entire pattern Reassignment Start Point Reassigns the Line Start point to the select...

Страница 34: ...sh 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 Path Direction Path mode only Provides an arrow to show the direction in which the robot arm will move Move Moves the tip or camera to the XYZ location of a selected address if the address has ...

Страница 35: ...rrent 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 Laser Detect Laser systems only Turns Laser Detect OFF 0 or ON 1 Laser Adjust Laser systems only Turns Laser Adjust OFF 0 or ON 1 Laser Skip Laser systems only Turns Laser Skip OFF 0 or ON 1 Laser Height Laser systems only Registers location and measur...

Страница 36: ... jogging speed Middle Medium jogging speed Slow Slowest jogging speed Relative Sets the origin relative to the coordinates of the workpiece Coordinates are displayed next to the button Both Views Icon Name Icon Function Jog button toggle Toggles the navigation and jogging window between view 1 and view 2 Fix rotate Not applicable Move Opens the Move to Position window which allows you to move the ...

Страница 37: ... Limits especially for the Z axis Doing so can damage the robot or cause the tip to collide with the substrate How to Move the Tip to a Specific Location You can use the Move button in the jog window to move the tip to a specific set of coordinates Click Step Reference Image 1 In the jog window click MOVE The Move to Position window opens 2 Enter the desired coordinates As applicable select or des...

Страница 38: ...uid Working Life Password Refer to Setting Password Protection on page 46 Lock Program Enable File Switch Refer to How to Lock or Unlock a Program on page 65 Pre cycle Initialize Causes the robot to move to the home position 0 0 0 before starting a dispense cycle System Setup Screen Area Function Needle XY Adjust Enables or disables the Needle XY Adjust capability When Needle XY Adjust is checked ...

Страница 39: ...Window on page 40 for details Icon Name Icon Function Measure Length Measures the distance between two points Refer to How to Measure a Path or Circle on a Workpiece on page 65 Measure Circle Diameter Measures the diameter of a circle Refer to How to Measure a Path or Circle on a Workpiece on page 65 Arrow Accesses advanced functionality for deposit verification using the optional OptiSure add on ...

Страница 40: ... brightness and light sensitivity of the camera image at a given exposure Gamma Defines the relationship between a pixel s numeric value and its actual luminance Pan Moves the visible image horizontally and vertically Shutter Adjusts the level of light entering the camera Red Changes the red levels of the camera image Blue Changes the blue levels of the camera image Gray image Changes the camera i...

Страница 41: ... are typically lower than Gray High values Range 0 255 Gray High Adjusts the gray high tolerance value The lower the value the less white is tolerated in the image The higher the value the more white is tolerated in the image NOTE Gray High values are typically higher than Gray Low values Range 0 255 Dilation Displays how the image appears after the Dilation calculation Dilation First counter When...

Страница 42: ...up Window Section Function Match Affects how the camera searches for marks Refer to Setting How the System Finds Marks Optional on page 59 Offset Used only as needed for manual calibration of the tip to camera offset in place of using the Robot Initial Setup wizard Refer to Appendix B Non Wizard Setup Procedures on page 135 Keypad A numeric keypad appears when data entry fields are present Use the...

Страница 43: ...and Jogging Window on page 36 for details CAUTION The robot automatically adjusts its speed depending on the complexity of the pattern Forcing the robot to run at higher speeds can compromise accuracy and 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 syst...

Страница 44: ...t Alarm Sets how much deviation the system allows for offsets The default settings are shown in the screen capture EXAMPLE 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 s...

Страница 45: ...scanning capability Refer to Appendix D QR Code Scanning Setup on page 145 to set up QR code scanning Multi Needles To dispense using more than one Dispenser up to four dispensers possible check this box Refer to Appendix E Multi Needle Setup and Use on page 148 to set up a multi Dispenser system Height Sensor Not currently available Set Z to Focus Sets whether the system captures the current Z he...

Страница 46: ... 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 confirms and immediately implements the password change If a password was...

Страница 47: ...p detector for non laser systems Setting the camera to tip offset Setting a mark Setting the camera scale Setting the tip to workpiece offset for non laser systems Testing the system setup and calibration Laser systems only calibrating the laser and setting the tip to workpiece offset All required setup and calibration tasks are guided by the Robot Initial Setup wizard However the tasks shown abov...

Страница 48: ...rm the actions on tabs 1 6 one at a time The actions are also provided in this manual starting with the next step for your reference as needed 2 Click the STEP1 tab Jog the tip over the entire workpiece to ensure that there is at least 5 mm of clearance between the bottom of the tip and the highest part of the workpiece Adjust the camera on its bracket until the camera s field of view shows the co...

Страница 49: ...Camera to Tip Offset on page 50 Click Step Reference Image 1 Click the STEP2 tab 2 Jog the tip until it is positioned about 2 mm above the sensor on the tip detector Click SET TIP DETECT POSITION 3 Click DETECT The tip touches the sensor to detect the tip position and the system displays the tip offset value next to the Detect button 4 Click DETECT again The system confirms the tip offset setting ...

Страница 50: ...n the work surface to deposit a test dot of fluid 3 Click the CAMERA tab and then click SETUP at the top of the Camera screen You will use the fields under XY Adjust Reference to deposit a test dot of fluid 4 Use the keypad to enter the following recommended dispense dot parameters ON TIME 0 5 DWELL TIME 0 2 5 Click FLUID to dispense a dot of fluid 6 Jog the tip until it is positioned about 2 mm a...

Страница 51: ... clear Refer to Camera on page 17 as needed for instructions on focusing the camera Click SET CAMERA 8 Click NEEDLE MOVE to test the setup The system should center the tip over the test dot dispensed in step 5 Click CAMERA MOVE to further test the setup The camera should center its crosshairs over the test dot dispensed in step 5 9 Continue to Robot Initial Setup Step 4 Tab Setting a Mark on page ...

Страница 52: ...ot and then click and drag the four box handles such that they outline the dot 5 Click a socket in the Mark Library to save the mark as a Mark No then click TEMPLATE when the Template Match window appears The system saves the image in the Mark Library NOTE Be sure to remember the Mark No 6 Click SETUP to go back to the Camera window Offset fields 7 Use the keypad to enter the Mark number in the Ma...

Страница 53: ...The Scale window opens NOTE When the camera views 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 5 Choose a point of reference on the workpiece and jog the camera so that the reference point is located in the lower right quad...

Страница 54: ...orkpiece as possible without touching the surface 3 Using a feeler gauge set the desired distance between the bottom of the tip and the workpiece 4 Click SET WORKPIECE SURFACE 5 Click FOCUS The tip moves to the correct focus height 6 Important If your system includes a laser skip to Laser Systems Only Calibrating the Laser and Setting the Tip to Workpiece Offset on page 56 If your system does not ...

Страница 55: ...Robot Initial Setup Wizard continued How the System Responds to Needle Z Detect or Needle XY Adjust When you click NEEDLE Z DETECT the system performs the following actions Moves the dispensing tip over the tip detector sensor and lowers it until it touches the sensor Measures and compares the difference between the last measurement and the current measurement Requests confirmation for any change ...

Страница 56: ...10 skip steps 1 to 8 Close the window after you have completed all the steps NOTE To specify high or low Z height limits for dispensing check ENABLE LIMIT FUNCTION and enter the desired values When this function is enabled the system prevents dispensing if the Z axis is above or below the specified limits 5 ONLY SYSTEMS FOR CONTACT DISPENSING Click LASER DETECT SETUP and follow the steps in the La...

Страница 57: ...ed for the system to operate properly Follow this procedure to change the robot model selection as needed Click Step Reference Image 1 Click SYSTEM SETUP OPEN EXPERT 2 11111111 Enter 11111111 then click OK 3 Click CONTROL 4 Select the correct robot model from the Machine Model drop down menu Click OK to save 5 Click EXIT to close the software Switch off the robot Re open the DispenseMotion softwar...

Страница 58: ...procedure to test input output connections NOTE All automated dispensing systems provide 8 standard inputs and 8 standard outputs A kit to expand to 16 inputs and 16 outputs is available Refer to Accessories on page 100 PREREQUISITES The system is properly installed and set up Refer to Installation on page 18 and Setup on page 43 Input output wiring is properly connected Refer to I O Port on page ...

Страница 59: ...Sets how the long system delays in seconds searching for a mark when it reaches the mark area Sense Specifies how accurately the camera aligns with the pixels of a mark based on a value from 1 to 200 When the Sense value is low the camera is slower to align with the mark because it repeatedly checks the position of the mark to achieve high accuracy When the Sense value is higher the camera aligns ...

Страница 60: ...revent the dispensing tip from being damaged when a workpiece surface 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 Reference Image 1 Click SYSTEM SETUP OPEN 2 CAUTION When SET Z TO FOCUS is NOT checked the tip can collide with obstacles on uneven workpieces causing damage Select or deselect the SET Z TO FOCUS c...

Страница 61: ...11 then click OK 3 Click CONTROL 4 In the Expert window select or deselect the OFFSET ALL PROGRAM checkbox Click OK to save the setting NOTE The change takes effect immediately but does not change the directory of the currently open program To save the currently open program in the d auto directory use Save As Click EXIT to close the DispenseMotion application allowing the system to update the def...

Страница 62: ...stem displays units of measure Click Step Reference Image 1 Click SYSTEM SETUP OPEN EXPERT 2 11111111 Enter 11111111 then click OK 3 Click CONTROL 4 In the Expert window select the desired unit of measure under System Unit Click OK to save the setting The system automatically exits the software to allow the change to take effect Restoring the System to the Factory Default Settings To restore all s...

Страница 63: ...or the workpiece or group of workpieces PREREQUISITES The system is properly set up Refer to Setting Up and Calibrating the System Required on page 47 If the tip or any element of the Z axis head was changed repeat system setup and calibration using the Robot Initial Setup wizard Refer to Setting Up the System Using the Robot Initial Setup Wizard on page 48 The system is in the correct mode Tip or...

Страница 64: ...luding dispensing 9 Click A NEW FILE Click SAVE If the file is not already named enter a name for the file Click YES OK when prompted for confirmations How to Add Comments to a Program You can add your own comments to any command address line in a program PREREQUISITES The program you want to add comments to is open Click Step Reference Image 1 Select a blank command address line NOTE Comments mus...

Страница 65: ...emove 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 visib...

Страница 66: ...anual 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 108 for detailed information on all commands Refer to How to Use the Example Icon on page 67 for some pre programmed example programs already created in the DispenseMotion software Lines and Arcs Sample P...

Страница 67: ...er of 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 65 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...

Страница 68: ... Setup Wizard on page 48 The system is in the CCD Mode Multiple workpieces 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 Com...

Страница 69: ...e 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 STEP REPEAT BLOCK icon The Run Block Select window appears 3 To disable dispensing for specific workpieces click the workpiece locations in the window Selections turn red when disabled Green Enabled Red Disabled Leave the Run Block Select window open during dispens...

Страница 70: ...nd calibration using the Robot Initial Setup wizard Refer to Setting Up the System Using the Robot Initial Setup Wizard on page 48 The system is in the CCD Mode Click Step Reference Image 1 Click CAMERA to go to the camera screen 2 Bring the image into focus Refer to Camera on page 17 as needed for instructions on focusing the camera 3 Click SETUP to go back to the Camera window Offset fields Clic...

Страница 71: ... to Use Trig Marks in a Step Repeat Program on page 73 How to Improve the Accuracy of Mark Searches If there are many areas on a workpiece that resemble a mark you saved you can use the Area function of the Template Match window to fine tune how the camera evaluates these areas against the saved mark image Doing so increases the find mark accuracy of the system NOTE Advanced features for manipulat...

Страница 72: ...ea on 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 47 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 t...

Страница 73: ...e Adjust commands to cause the system to check the XY orientation of each workpiece in an array and to automatically adjust the dispensing path for the turned workpieces There are two ways you can use this capability select the best method for your application Method Number Comments Refer to Method 1 Requires more programming time Requires more time for the system to search for the marks Most accu...

Страница 74: ... commands to create a Step Repeat program that 1 causes the system to check the XY orientation of each workpiece in an array and 2 to adjust dispensing accordingly Creating and saving mark images on each side of a rectangular area on the workpiece For each mark you will need to know its Width and Height values Setting up the search range for each selected mark in the horizontal planes and then for...

Страница 75: ...to center the image of the workpiece in the camera view Important The camera must be precisely centered over the workpiece because the offset values are calculated automatically 5 Click SET MARK click and drag the crosshairs of the red square over the first horizontal target on the workpiece then click and drag the red square borders to position the square around the target 6 Double click the cros...

Страница 76: ...d drag the red square borders to position the square around the target Continued on next page Method 1 Using Eight Trig Marks Highest Accuracy continued To Create Four Horizontal Trig Marks and Set the Range continued Click Step Reference Image 8 Click RANGE to set where the system searches for the mark Double click again in the center of the mark and then enter the same Width and Height values th...

Страница 77: ...ow the system searches for the mark Double click again in the center of the mark and then enter the same Width and Height values that were entered in step 3 NOTE For better accuracy ensure that the Width and Height values are the same for both Set Mark and Range Click OK Click RANGE again to save 6 With the camera centered over the workpiece repeat steps 1 5 for the other three marks located in th...

Страница 78: ... mark command window opens Enter the mark number No of the first Trig Mark in the No field The system automatically populates the OX and OY fields NOTE OX is offset X and OY is offset Y the system calculates the distance of OX and OY as measured from the center of the workpiece to the Trig Mark image 4 Repeat steps 2 3 for the remaining Trig Marks 5 Double click a command address line select RECTA...

Страница 79: ...fd com 1 401 431 7000 Sales and service of Nordson EFD dispensing systems are available worldwide Example Trig Mark Step Repeat program using Method 1 highest accuracy Method 1 Using Eight Trig Marks Highest Accuracy continued To Use Eight Trig Marks in a Step Repeat Program continued ...

Страница 80: ...the camera 3 Click LENS and make the SHUTTER setting as low as possible while ensuring that you can still clearly see the workpiece 4 Click CENTER to center the image of the workpiece in the camera view Important The camera must be precisely centered over the workpiece because the offset values are calculated automatically 5 Click SET MARK click and drag the crosshairs of the red square over the f...

Страница 81: ...k a command address line and select TRIG MARK The Trig mark command window opens Enter the mark number No of the first Trig Mark in the No field The system automatically populates the OX and OY fields NOTE OX is offset X and OY is offset Y the system calculates the distance of OX and OY as measured from the center of the workpiece to the Trig Mark image 4 Repeat steps 2 3 for the second Trig Mark ...

Страница 82: ...nfo nordsonefd com 1 401 431 7000 Sales and service of Nordson EFD dispensing systems are available worldwide Example Trig Mark Step Repeat program using Method 2 faster Method 2 Using Two Trig Marks Faster continued To Use Two Trig Marks in a Step Repeat Program continued ...

Страница 83: ... up Refer to Setting Up and Calibrating the System Required on page 47 The system is in the CCD Mode To learn how to use this feature draw a black rectangle with very round corners on a sheet of white paper and use it as a template Overview for Dispensing onto Featureless Workpieces The following tasks are required to create a program for dispensing onto very plain workpieces Creating and saving m...

Страница 84: ...izontal target on the workpiece Center the red rectangle on the edge of the workpiece by clicking and dragging a corner 4 Double click the crosshairs in the center of the red rectangle and then enter the desired values for Width and Height 20 and 40 in this example Click OK to save the values 5 Click a socket in the Mark Library to save the mark then click TEMPLATE when the Template Match window a...

Страница 85: ...k commands To Use the Edge Adjust Command in a Program Click Step Reference Image 1 Insert four Find Mark commands near the top of the program one for each mark image created in the previous procedure 2 Insert an Edge Adjust command after the Find Mark commands Refer to the sample program provided below as a guideline Click Step Reference Image 8 Repeat steps 3 7 to create horizontal mark 2 Repeat...

Страница 86: ...ing and saving a mark image of a segment of the line You will also need to know the length of the line Setting up the search range for the mark images Correctly using the Find Mark Mark Follow and Mark Follow Offset commands in a dispense program To Create a Mark Image for a Curved Line Click Step Reference Image 1 Click CAMERA to go to the camera screen 2 Bring the image into focus Refer to Camer...

Страница 87: ...t commands on page 91 for the complete example program NOTE The Camera Trigger command can be used if needed Continued on next page How to Use Mark Follow to Dispense Along a Curved Line continued To Create a Mark Image for a Curved Line continued Click Step Reference Image 5 Click a socket in the Mark Library to save the mark then click TEMPLATE when the Template Match window appears Make a note ...

Страница 88: ...ET represent the length and orientation horizontal or vertical of the line The value for COLUMNS X sets how many times you want the camera to view the line and make adjustments For ROW enter 1 For LABEL enter 1 NOTE The X Offset value multiplied by the number of Columns cannot be greater than the total length of the line Because there is only one row the S Path N Path parameter does not have an ef...

Страница 89: ...e as the previous Step Repeat command Line 5 in this example except for the Label Change the last parameter from Label to Address and enter the address of the first Line Passing command line 9 in this example 7 Click EXTEND STEP REPEAT The system extends the Step Repeat X command by adding Line Passing commands for many line passing points along the line 8 Insert a blank address after the Line Sta...

Страница 90: ...iew the pattern before running it Because the line for this example is fairly straight this program works at this point using only a Mark Follow command For deeper curves the Mark Follow Offset command is needed Continue to the next step for an explanation of how to use the Mark Follow Offset command for deeper curves 13 If needed for a line with a deeper curve Insert a MARK FOLLOW OFFSET command ...

Страница 91: ...1 431 7000 Sales and service of Nordson EFD dispensing systems are available worldwide Example program using Find Mark Mark Follow and Mark Follow Adjust commands How to Use Mark Follow to Dispense Along a Curved Line continued To Use Mark Follow and or Mark Follow Adjust in a Program continued ...

Страница 92: ...PREREQUISITES The system is properly set up Refer to Setting Up and Calibrating the System Required on page 47 The system is in the CCD Mode Click Step 1 Click PROGRAM OPEN to open the program to be updated 2 Double click address and select LASER HEIGHT from drop down menu Insert a LASER HEIGHT command This command causes the laser to measure the height of a point or points on the workpiece NOTE I...

Страница 93: ...or 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 Count to 0 click RESET Fluid Working Life If Fluid Working Life is enabled sets the maximum number of minutes that a fluid should be in the system als...

Страница 94: ... appears 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 T...

Страница 95: ...t to edit Valve Heaters or Ramp 3 Click the button for the parameter you want to edit and enter the desired setting Refer to the PICO Toµch Controller Operating Manual for details on settings Click SAVE NOTES The first time you save the system prompts for a file name PICO files are saved on the DispenseMotion controller as pico files under D Save PICO You can use any allowable file name but Nordso...

Страница 96: ...the settings you want to edit Valve Heaters or Ramp 3 Click the button for the parameter you want to edit and enter the desired setting Refer to the Toµch Controller Operating Manual for details on settings Click SAVE AS NOTE Every time you make a change and click SAVE AS you will have to overwrite the existing file or create a new file Continue making selections and saving until all desired setti...

Страница 97: ...he PROGRAM tab Double click the address row where you want to implement the saved PICO Toµch Controller settings and select PICOTOUCH PARAMETER UPDATE 2 xxxxxxxx In the FILE NUMBER field enter the pico file name that contains the PICO Toµch parameters you want the system to use NOTE The data entered for File Number must exactly match the pico file name Click OK to save NOTE Multiple PicoTouch Para...

Страница 98: ...als as needed 5 Open the program file for your application 6 Place the workpiece in the correct location on the fixture plate 7 Press the START button on the front of the robot or click RUN on the monitor 8 When necessary refer to the dispensing system manuals to refill the dispenser 9 If an emergency occurs press the EMERGENCY STOP button EMERGENCY STOP button START button Running a Program by Sc...

Страница 99: ...escription of the system response to a Needle Z Detect selection Shutting Down the System 1 Click SYSTEM SETUP EXIT to close the DispenseMotion software If prompted to save a file select YES or NO 2 Switch off the following components as applicable DispenseMotion controller Monitor Robot Light controller 3 Refer to the dispensing system manuals for any special shutdown instructions Part Numbers Pa...

Страница 100: ...L 7362766 Small safety enclosure Europe 7362739 Large safety enclosure E4 E4V E5 E5V R4 R4V PRO4 PRO4L PROPlus4 PROPlus4L 7362767 Large safety enclosure Europe Pre Configured Output Cables Item Part Description 7360551 Standard cable to connect the dispenser and the robot 7360761 Single voltage initiate cable to connect the dispenser and the robot provides different pigtails to connect to differen...

Страница 101: ...llows a user programmer to simulate either 1 input signals from external devices or 2 outputs from the automation before physically installing any external devices 7360865 Start stop accessory box European Community Tip Detector Item Part Description 7361535 Tip detector accessory kit PROPlus PRO Series 7363940 Top mount under mount accessory kit This kit allows you to mount the tip detector in th...

Страница 102: ...been met When paired with the OptiSure confocal laser the AOI feature provides three dimensional 3D deposit verification by measuring the height width and diameter of a fluid deposit and comparing it to a 3D image of a desired deposit to determine true volume accuracy The OptiSure feature also includes advanced functions for augmenting mark images to make them easier for the system find Item Part ...

Страница 103: ...ves without mounting holes 702 754 794 and 784S SS Series valves 7363518 Mounting bracket for 794 TC Series valves 7361114 Mounting bracket for xQR41 and 745 Series valves 7361757 Mounting bracket for radial spinner valves Mounting Brackets Item Part Description 7360952 Mounting bracket for the Ultimus IV dispenser 7362177 Mounting bracket for Liquidyn P Jet and P Dot valves 7364423 Mounting brack...

Страница 104: ...ill mounting holes for the robot feet 4 x M5 tapped holes B A C B A Dimension PRO3 All PRO4 All A 435 mm 17 13 535 mm 21 06 B 440 mm 17 32 480 mm 18 90 Dimension PRO3 PRO3Plus PRO3L PROPlus3L PRO4 PROPlus4 PRO4L PROPlus4L A width 720 mm 28 793 mm 31 820 mm 32 833 mm 33 B height 690 mm 27 690 mm 27 690 mm 27 690 mm 27 C depth 590 mm 22 590 mm 22 690 mm 27 690 mm 27 NOTE Dimensions include the Dispe...

Страница 105: ...ption 1 NOM Normally open 2 COM Common 3 EARTH Ground 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 101 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...

Страница 106: ... is rated 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...

Страница 107: ...output 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 E...

Страница 108: ...the end of 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 a visual 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 Lin...

Страница 109: ... systems are available worldwide 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 ...

Страница 110: ...he system should use the same points that are selected in the Run Block Select window Refer to How to Disable Dispensing for Specific Workpieces in an Array on page 69 for details Call Pattern Click Function Double click address and select from drop down menu Causes the system to dispense in a pattern that is like another pattern in the program but at the location in the program where the Call Pat...

Страница 111: ... repeated on separate workpieces that are arranged in straight lines and at fixed distances from each other Example of a program that includes a Call Subroutine command Camera Fast Click Function Double click address and select from drop down menu Used in tandem with Find Mark Camera Fast defines how the system evaluates marks It is similar to Camera Trigger but is 1 not used inside a Step Repeat ...

Страница 112: ...procedures for using this command For the best system performance make the Shutter setting click CAMERA LENS to access this setting as low as possible while ensuring that you can clearly see the workpiece When Camera Trigger is used the Step Repeat parameter for path must be set to S Path Parameter Description Speed The speed at which the camera moves across workpieces in array to perform the Came...

Страница 113: ... Degrees of the large circle Parameter Description Start Angle The angle in degrees from the center of the circle where the start of the circle begins The default of 0 degrees equates to the 3 00 position Default 0 degrees Range 0 to 360 NOTES You can enter a negative value For example if you enter 90 the circle start point will be the 12 00 position You can also enter a value greater than 360 but...

Страница 114: ...tip raises after dispensing Parameter Description Retract Low Speed The speed in mm s at which the tip raises after dispensing Range 0 150 mm s Retract High Speed After the tip raises the amount specified by Retract Distance at the speed specified by Retract Low Speed the tip continues raising to the Z clearance height at the speed in mm s specified by this setting The purpose of specifying a Z cl...

Страница 115: ...ample program and the resulting pattern is shown below Original program and corresponding Path view Program with Dispenser On Dispenser Off commands and an example of the resulting dispense pattern NOTE The Path view in the Secondary View screen will NOT change when you add the Dispenser Off Dispenser On commands as shown in this example this image is only a representation of the resulting dispens...

Страница 116: ...o a Plain Workpiece on page 83 for instructions on using this command End Pattern Click Function Double click address and select from drop down menu Used in tandem with Call Pattern to return the program to the address that occurs just after a Call Pattern command End Program Click Function Registers the current address as the end of the program End Program returns the dispensing tip to the home p...

Страница 117: ...t 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 the orientation of a workpiece Refer to About Marks on page 27 for more information on marks Fiducial Mark Adjust Click Function Double click address and select from drop d...

Страница 118: ...idth 5 mm Fill Area Click Function Used in tandem with Fill Start and Fill End the Fill Area command 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 The correct sequence of commands for a fill area is 1 Fill Start 2 Fill Area 3 Fill End NOTE Line Start can be used in place of Fill ...

Страница 119: ... directly across 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...

Страница 120: ...tart Line 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...

Страница 121: ... 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 7 Circle Inner to Outer This command fills the defined area by moving the tip along a spiral path from the center of the circle to the outside edge After entering a Fill Area Circle command jog the tip to a point on the center of the circle to be fill...

Страница 122: ...gle shaped area on the workpiece If a change is found the system adjusts the dispense program accordingly EXAMPLE If Start Angle 0 and End Angle 90 the system searches for marks within the specified angle shaped area If a workpiece differs from the previous workpiece within that area the system adjusts the dispense program accordingly If the system cannot find the marks within the specified angle ...

Страница 123: ...orm an initialization The dispensing 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 progra...

Страница 124: ...tching program using the Jet Step command for a PICO jet valve Label Click Function Registers a numeric label that can be used as a reference in the Goto Address Goto Label Loop Address Step Repeat X Step Repeat Y and Call Subroutine commands Using a Label is a good alternative to using an address number because a Label does not change when commands are inserted or removed A maximum of 64 labels i...

Страница 125: ...s and select from drop down menu Used in tandem with four 4 or more Laser Height commands the Laser Plane command reads all the Laser Height commands in the dispense program and adjusts the program accordingly for any height changes between workpieces Setting Description 1 Turns Laser Plane ON 0 Turns Laser Plane OFF Laser Point Adjust for Dots Click Function Double click address and select from d...

Страница 126: ...es to allow the pressure to equalize before the tip moves 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 fr...

Страница 127: ...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 and adjusts the dispensing path accordingly Mark Follow Click Function Double click address and select from drop down menu When used in tandem with a Find Mark command causes the system to dispense along a sli...

Страница 128: ...ablished during the Robot Initial Setup process Parameter Description X range Sets the maximum offset allowed for the X axis Y range Set the maximum offset allowed for the Y axis 0 Ask 1 Continue 0 Ask The system asks if you want to update the camera to tip offset 1 Continue The system automatically accepts the camera to tip offset unless out of range and then continues to the next command Needle ...

Страница 129: ...ion Double click address and select from drop down menu Sets the acceleration as a percentage of the robot from point to point at the location in the program where this command is inserted thus overriding the default system point to point speed setting 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 f...

Страница 130: ...ust be set to S Path Set Click Function Double click address and select from drop down menu Allows a numeric value to be assigned to a symbol or character once assigned the symbol or character can be used in a program in place of the numeric value A set command can also be used to cause the system to increase or decrease a coordinate by the assigned numeric value NOTE Unlike the Var command includ...

Страница 131: ...orkpiece 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 address where the Step Repeat X command begi...

Страница 132: ... Step Repeat Y Step Repeat Z Click Function Double click address and select from drop down menu Enables the repeat of the dispensing pattern onto many identical workpieces that are mounted on a fixture plate and aligned in rows and columns Parameter Description Z Offset The distance in mm between each workpiece tier in the Z direction Range 0 1 100 mm Tier The number of tiers in the Z direction A ...

Страница 133: ...r to How to Use Trig Marks in a Step Repeat Program on page 73 for detailed procedures for using this command When Camera Trigger Trig Mark and Rectangle Adjust are used the Step Repeat parameter for path must be set to S Path A Trig Mark is different from a Find Mark or a Fiducial Mark 1 Trig Marks are used only with the Camera Trigger and Rectangle Adjust commands 2 there must be either two or e...

Страница 134: ... 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 distance the tip raises relative to the taught point location When it is specified as an...

Страница 135: ...at is located on the lower right corner of the workpiece Bring the image into focus Refer to Camera on page 17 as needed for instructions on focusing the camera 3 Click the CAMERA tab and then click SCALE The Scale window opens NOTE When the camera views 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 ...

Страница 136: ... 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 the tip to Z 0 then lowe...

Страница 137: ...de 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 centered over th...

Страница 138: ...ides all layers 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 Select Selects only the points within the area of the rectangle Select Directly Selects one element Cancel Select Cancels any s...

Страница 139: ...olve 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 an imported XY value is 150 150 0 then enter 200 for Offset X and 200 for offset Y click OK and then click the Point Dispense or Line Dispense icon again to refresh the values The new values will be 50 50 0 and the points will be visible on the...

Страница 140: ...le for the workpiece is located on the 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 po...

Страница 141: ...al 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 139 8 Click TRANSFORM The Program and Table fields appear 9 Click on a poi...

Страница 142: ...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 Appendix C ...

Страница 143: ...n the Primary View screen 2 Open the DXF file you want to convert to a program The file appears in the Primary View screen Click SELECT ALL Click OPTION The Option window opens 3 Select the SORT PATH checkbox to enable the Sort Path By feature Select the X or Y radio button to specify the direction for the dots to be arrayed Enter the number of dots in the array In this example there are 160 dots ...

Страница 144: ...ilable worldwide Using the Sort Path By Option continued Appendix C DXF File Import continued Examples of How the Sort By Path Option Affects DXF Imports DXF array import Sort By Path disabled A B C D 1 2 3 4 5 6 7 8 9 DXF array import Sort By Path X enabled A 1 3 4 5 6 7 8 9 10 11 12 13 B DXF array import Sort By Path Y enabled 2 1 3 4 5 7 6 8 9 10 11 12 13 14 15 ...

Страница 145: ...nt on 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 th...

Страница 146: ...TEST to 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 ...

Страница 147: ...oves to the QR code and scans it The system opens the program and executes it Click Step Reference Image 8 Continue to add additional QR codes as needed To remove a QR code right click on the QR code and then click DELETE 9 Return to PROGRAM 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 ...

Страница 148: ...i dispenser bracket can be installed on the Z axis to accommodate up to four dispensers When more than one dispenser is installed the camera to tip offset must be set for each dispenser After the system is set up for multi needle operation you can insert the Multi Needle dispense command to specify which dispenser executes the commands that follow the Multi Needle command NOTE For contact dispensi...

Страница 149: ...s close to the crosshair target as possible without touching the target 5 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 6 Jog the camera until the camera crosshairs are centered over the crosshair target then focus the camera until the image of the crosshair tar...

Страница 150: ...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 11 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 12 Jog the camera until the camera crosshairs are centered over the crosshair ...

Страница 151: ...explains the programming process for two dispensers Repeat steps as needed to add commands for additional dispensers up to four 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 pro...

Страница 152: ...lick OK 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 Insert 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 Disp...

Страница 153: ...einitializing moving to home position Standby A signal indicating that the robot is in a standby idle position Pause A signal indicating that the dispense program is paused System Start A signal indicating that the DispenseMotion software is open and running Table Ready A signal indicating that the system is ready to execute the dispense program This configuration is to be used in tandem with the ...

Страница 154: ...librating the System Required on page 47 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 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 153 for a description o...

Страница 155: ...ence Image 1 Click Start Programs Accessories Command Prompt 2 At the command prompt type STATUS and press the enter key 3 Next to State the system displays either ENABLED or DISABLED If the State is DISABLED then the DispenseMotion controller is configured correctly for updates Skip to the end of this procedure If the State is ENABLED type DISABLE and press the enter key 4 Type SAVE and press the...

Страница 156: ...ng 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 defective part upon authorized return of the part prepaid to our factory during the warranty period The only exceptions are those parts which normally wear and must be replaced routinely such as but no...

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