Equipment Operation Manual Loctite 200, 300, And 400

Transcript

EQUIPMENT OPERATION MANUAL Loctite 200, 300, and 400 Series Benchtop Robots Book 2 of 4: Basic Concepts A Company FOR SAFE USE Safety Notes Read the following Warnings and Cautions thoroughly for the safe use of the Desktop Robot. Keep them in mind during use in order to prevent injuries and damage to property. Be sure to heed the following Warnings and Cautions faithfully. Various symbols are used to indicate the matters to be attended to. Please read the following explanations to understand what each symbol means. λ Symbols for the Degree of Damage and Danger The following symbols indicate the degree of damage and danger which may result if you neglect the safety notes. The Warnings are mainly concerned with incorrect and dangerous Warnings uses which could lead to serious damage, such as death or serious injuries. The Cautions are mainly concerned with improper operation which Cautions could lead to minor damage, such as injuries or damage to properties. λ Symbols for the Content of the Danger and Preventive Measures The following symbols indicate the types of the safety measures you should take. indicates the content of the safety measures you should take. General caution Indicates prohibition. Never do this. Do not disassemble, modify or repair. Do not touch. Indicates obligation. Be sure to follow these directions. Be sure to unplug the power cord from the wall outlet. Be sure to check grounding. FOR SAFE USE Basic Concepts i continued from the previous page Dispensing Warnings Be sure to check grounding. Improper grounding can cause electric shocks or fire. Be sure to use power in the range indicated on the unit . Otherwise electric shocks or fire may ensue. Plug the power cord into the wall outlet firmly. Otherwise the input can become hot and may lead to fire. Make sure that the power plug is clean. Be sure to unplug the power cord from the wall outlet when you examine or grease the machine. Otherwise electric shocks or fire may ensue. Stop operation and unplug immediately whenever you sense any abnormalities, such as pungent odor. Immediately contact the dealer from which you purchased the product. If you continue operation, electric shock, fire or malfunction may ensue. Install the product in a place which can endure the weight and running conditions. If the machine falls down or turns over due to improper installation, injuries or defects may ensue. Be sure to prepare protective measures such as an area sensor or enclosure to avoid injury when you install the product. Entering the robot’s work range during operation could lead to injury. Do not attempt to disassemble or modify the machine. Disassembly or modification could lead to electric shocks, fire or malfunction. Use the machine indoors where no flammable gas nor corrosive gas is present. Emission and accumulation of such gas could lead to fire. FOR SAFE USE Basic Concepts ii continued from the previous page Dispensing Warnings Be sure to unplug the power cord from the wall outlet if the robot will be left unused for a long time. Otherwise gathered dust could lead to fire. Be sure to use power in the proper range. Otherwise fire or malfunction may ensue. Keep off the unit and the power cables from water or oil. Otherwise electric shocks or fire may ensue. Cautions Be sure to check grounding. Improper grounding could lead to malfunction or defects. Use the Desktop Robot in an environment of 0 to 40 degrees centigrade and humidity of 20 to 95 percent without condensation. Otherwise malfunction may ensue. Use the machine where no electric noise is present. Otherwise malfunction or defects may ensue. Use the machine where it is not exposed to direct sunlight. Otherwise malfunction or defects may ensue. Be sure to confirm that the tools such as an electric screwdriver unit, etc. are connected properly. Otherwise injuries or defects may ensue. Check the mounting screws regularly so that they are always firmly tightened. Loosened screws may lead to injuries or defects. Basic Concepts iii Dispensing FOR SAFE USE continued from the previous page Cautions Be sure to confirm the wiring to the main unit. Improper wiring may lead to malfunctions or defects. Be sure to secure the movable parts of the robot before transportation. Otherwise injuries or defects may ensue. Do not bump or jar the machine while it is being transported or installed. Otherwise defects may ensue. Keep hand away from moving parts to avoid injury. Basic Concepts iv Dispensing ν PREFACE ν The Loctite Benchtop Robot Series is a new type of robot with high performance for low cost. We succeeded in reducing the price while maintaining its functionality. Energy and space saving is made possible through the combined use of stepping motors and special micro step driving circuits. This manual describes basic operation of the Cartesian Series. In addition to this Basic Concepts section, there are Quick Start, Functions and Specifications sections. Also refer to them in actual operation of the machine. Basic Concepts Information necessary for basic operation of the robot, including safety information and part names. ν Be sure to read it. ν Quick Start Describes how to operate the Benchtop Robot Cartesian Series by making and running a simple program. Functions Gives various examples of applications and explains the functions and operations necessary to perform them. Specifications Gives complete specifications for the Benchtop Robot Cartesian Series, including dimensions, weight, and I/O specifications. Please be sure to follow the procedures described in this manual. Proper use of the robot will ensure fine and precise production for a reasonably long time. BE SURE TO MAKE A PROPER GROUNDING WHEN YOU INSTALL THE ROBOT. Note: The product may be modified without prior notification, so there may be discrepancies between your Benchtop Robot and the product described in this manual. Program data stored in the robot will only be maintained for about 72 hours when the power is turned off. Therefore, you should save the data to a flash memory card, which can keep the data indefinitely. The data in a memory card can be used as backup data in case of a breakdown, power failure, etc. Be sure to save your data in a memory card after any addition or modification to the taught data. Please refer to “Saving Backup Data” on p. A-25 of the Functions section. Basic Concepts v Dispensing ν CONTENTS ν BASIC CONCEPTS For Safe Use ...................................................................................................................... I -iv Preface ............................................................................................................................... v Contents ............................................................................................................................. 1 Part Names ........................................................................................................................ 2 Body........................................................................................................................ 2 Teaching Pendant.................................................................................................. 5 Switch Box (Only for CE)....................................................................................... 5 Teaching Pendant Keys ........................................................................................ 6 Composition of Equipment................................................................................................ 7 Installation........................................................................................................................... 8 Coordinate System............................................................................................................ 16 PTP Movement and CP Movement................................................................................. 17 Teaching Data.................................................................................................................... 18 What is Teaching? ................................................................................................. 18 Types of Teaching Data ........................................................................................ 18 Relationship Between Teaching Data ................................................................. 19 Programs..................................................................................................... 20 Program Data..................................................................................... 20 Point Data........................................................................................... 25 Point Job Data............................................................................................. 28 Additional Function Data ............................................................................ 28 Sequencer Programs ................................................................................. 29 System Data................................................................................................ 30 Saving the Taught Data......................................................................................... 30 Basic Key Operations........................................................................................................ 31 Base Condition....................................................................................................... 31 Selection Notes ...................................................................................................... 34 Entering Numeric Values....................................................................................... 36 Entering a Position................................................................................................. 38 jog Mode...................................................................................................... 40 MDI (Manual Data Input) Mode ................................................................. 42 Entering Names ..................................................................................................... 44 Basic Concepts １ Dispensing ■ PART NAMES ■ ■Body Z axis unit for 4 axes structure R axis X base Z axis unit Y axis frame unit Frame Base Basic Concepts 2 Dispensing ■Front view of the operation part Program selection keys Red (error) light Emergency stop button Start button Green (ready) light Program number display Teaching pendant connector Card slot (Cover is removed.) Button for card exit COM1 (RS-232C) ■Back view of the operation part (200 Series) Power inlet I/O-1 COM2 (RS-232C) Main Power Switch (Optional) Switch box connector (Only for CE) I/O-S (Only for CE) Screw for grounding Basic Concepts 3 Dispensing ν Back view of the operation part (300 and 400 Series) Main power switch Power inlet Screw for grounding(M4) Fuse (3.15 time lag fuse Ф 5.2 x 20) Switch box connector (Only for CE) Power outlet (They are only for CE. The shape is different depending on the voltage. ) I/O-S (Only for CE) I/O-1 I/O-2 (Optional) COM2 (RS232C) (Optional) Basic Concepts 4 Dispensing ■Teaching Pendant LCD (Liquid Crystal Display) Operation panel ■Switch Box (Only for CE) Emergency stop switch Start switch Basic Concepts 5 Dispensing ■ Teaching Pendant Keys Numeric entry keys: F.1 F.2 0 through 9 ..... Number keys Function keys F.3 ± ....................... Plus/minus key MENU .............. Menu key . ......................... Decimal key ALT .................. Alternation key DEL ................... Delete key GO .................... Go key CLEAR ............. Clear key FUNC ............... Function switch key DISP Å ............ Display - left arrow key PROG.NO ....... Program number key DISP Æ ............ Display - right arrow key SAVE ............... Save key SEL ↑ ................ Select - up arrow key EDIT .................. Edit key SEL ↓ ............... Select – down arrow key Jog keys: ESC ................. Escape key ↑X ..................... X plus key ENTER ............ Enter key X ↓ .................... X minus key ÅY ................... Y minus key YÆ ................... Y plus key Z ↑ ................... Z up key Z ↓ .................... Z down key R ................... R minus key R ................... R plus key Basic Concepts 6 Dispensing ■ COMPOSITION OF EQUIPMENT ■ Body System Composition Teaching pendant Robot body A personal computer (PC) with Windows 95/98 operating system Switch Box (Only for CE) Tool (dispenser, impulse welder, etc.) Sequencer, etc. Area sensor, etc. RS-232C extension cable (Optional) ･ Windows 95/98 is a registered trademark of Microsoft. Basic Concepts 7 Dispensing ■ INSTALLATION ■ Warnings Be sure to check grounding. Improper grounding can cause electric shocks or fire. Be sure to use power in the range indicated on the unit . Otherwise electric shocks or fire may ensue. Plug the power cord into the wall outlet firmly. Otherwise the input can become hot and may lead to fire. Make sure that the power plug is clean. Install the product in a place which can endure the weight and running conditions. If the machine falls down or turns over due to improper installation, injuries or defects may ensue. Be sure to prepare protective measures such as an area sensor or enclosure to avoid injury when you install the product. Entering the robot’s work range during operation could lead to injury. Do not attempt to disassemble or modify the machine. Disassembly or modification could lead to electric shocks, fire or malfunction. Use the machine indoors where no flammable gas nor corrosive gas is present. Emission and accumulation of such gas could lead to fire. Keep off the unit and the power cables from water or oil. Otherwise electric shocks or fire may ensue. Basic Concepts 8 Dispensing Cautions Be sure to check grounding. Improper grounding could lead to malfunction or defects. Use the Desktop Robot in an environment of 0 to 40 degrees centigrade and humidity of 20 to 95 percent without condensation. Otherwise malfunction may ensue. Use the machine where no electric noise is present. Otherwise malfunction or defects may ensue. Use the machine where it is not exposed to direct sunlight. Otherwise malfunction or defects may ensue. Be sure to confirm that the tools such as an electric screwdriver unit, etc. are connected properly. Otherwise injuries or defects may ensue. Be sure to confirm the wiring to the main unit. Improper wiring may lead to malfunctions or defects. Basic Concepts 9 Dispensing Attaching and Removing Metal Shipping Supports *The large arrows indicate a set of screws, fixing the metal shipping support. Metal shipping supports Two-axis model Metal Metal shipping shipping supports supports Three-axis model Four-axis model Removing Remove the metal parts (indicated by the small arrows) which fix the X base and Z axis unit to the body base. (Screws : Two-axis model – 6 pieces, Three-axis model – 4 pieces and Four-axis model – 6 pieces ) Installing Adjust the height by turning each rubber foot. Be careful to balance the feet to install stable. Φ When running, the body may be shaken by the tool weight, shape of the work, or the installed conditions of the robot. In these cases, please move the rubber feet, and use the screws which has been attached the rubber feet, to fix the robot stable. Please refer to “Installation” on p.2-1 of the Specifications section. Basic Concepts 10 Dispensing Mounting a Dispenser (Three-Axis Model for Example) (1) Mount the cylinder on the Z-axis unit. (2) Connect the air tube to the cylinder. (3) Connect the air tube to the dispenser controller. Air Tube Cylinder Dispenser controller I/O-1cable (4) Connect the I/O-1 cable to the dispenser controller and the robot’s body. I/O-1connector Dispenser Air tube controller Robot I/O-1cable Basic Concepts Cylinder 11 Dispensing ν Wiring and Piping Teaching pendant COM 1 ＰＣ [ Back view of the 200 Series] Switch box (Only for CE) * I/O-1 For RS-232C extension COM 2 (Optional) I/O-S Area sensor, etc. * Power outlet When peripheral equipment marked with an asterisk (*) is not used, be sure to connect a shorting plug to the connector. (The robot will not start if nothing is connected to these points.) Cover other unused connectors with dust covers to prevent dust collecting due to static electricity. Basic Concepts 12 Dispensing [Back view of the 300 and 400 Series] Switch box* (Only for CE) RS-232C For extension I/O-2 Optional I/O-1 I/O-S* Area sensor, etc. Power outlet (They are only for CE. The shape is different pending on the voltage. Power inlet When peripheral equipment marked with an asterisk (*) is not used, be sure to connect a shorting plug to the connector. (The robot will not start if nothing is connected to these points.) Cover other unused connectors with dust covers to prevent dust collecting due to static electricity. Memory card write protect switch Basic Concepts 13 Dispensing Memory card The default position of the write protect switch on new memory cards is in the ON position. You cannot save any data to, nor delete any data stored inside the card in this condition. Please turn the write protect switch OFF, as illustrate in the diagram. Write protect switch in ON position Inserting and ejecting memory cards (1.) Remove the two screws fixing the memory card cover of the card slot on the front body. (2.) Push the card eject button to eject the memory card. (3.) When inserting a new memory card, slide the write protection switch to the OFF position. ΦDo not use a sharply pointed tool to slide the switch. (4.) Insert the memory card into the card slot with the front side facing up, and reattach the card cover. Φ Push the card into the slot until it clicks, and the card eject button will pop out. Card cover Basic Concepts 14 Dispensing Connector I/O-1 I/O-2 Optional. (Not included in JR2200.) COM 1 COM 2 (Optional) SWITCH BOX CE TEACHING PENDANT CE Non CE I/O–S ( only for CE) INLET Cable I/O-1 cable 2m 3m 5m I/O-2 cable 2m Connected equipment Sequencer (PLC), etc. 984937002 984837105 984937208 Tools 982544002 RS232C (straight) D-SUB25 Pin Socket type Not included in the package RS232C (straight) D-SUB9Pin Socket type Not included in the package The card and the switch box is one unit. PC, PLC Not included in the package SWITCH BOX CE 1m 982559114 CE 1m 982559011 TEACHING PENDANT 982617007 Short connector 982555006 Please attach the short connector to a connector cord. Domestic areas 952801007 100 V areas (incl. North America) 982559004 CE areas (200 V) 980543005 200 V areas other than CE areas UK (200 V) 982544006 OUTLET (Not included in 200.) Basic Concepts For extension (Camera, etc.) Non CE 1 m 960530007 1.5 m 960530018 With marking 960616101 Without marking 960616008 Area sensor, Switch of the guard door Not included in the package Power supply: Single-phase AC 90 – 132 V, 50/60 Hz Power supply: Single-phase AC 180 – 250 V, 50/60 Hz The power supply specifications are the same as those of INLET. Maximum: 3 A 15 Dispensing ■ COORDINATE SYSTEM Basic Concepts 16 ■ Dispensing ■ PTP MOVEMENT AND CP MOVEMENT ■ During operation, each axis moves either in PTP or CP movement. ν PTP (Point to Point) Movement The tool unit rises vertically from one point, moves on the X-Y plane, and then descends vertically to the next point. ν CP (Continuous Path) Movement The tool unit draws a straight line or an arc to the specified next point. It moves at the same speed throughout the movement. CP movement is the motion from the CP starting point the CP ending point. Basic Concepts 17 Dispensing ν TEACHING DATA ν ν What is Teaching? “Teaching,” in this case, means programming the robot to perform a desired operation and saving those instructions in the robot. The information stored in the robot is called teaching data. ν Types of Teaching Data There are five types of teaching data: Programs, point job data, additional function data, sequencer programs and system data. ν Programs A program is a set of commands in which a series of actions and movements performed by the robot are registered in order. The Benchtop robot can store up to 100 programs from program number 1 to 100. A program consists of two parts. One is program data, which controls the program itself, and the other is point data (or a series of point data when there is more than one point), which contains information such as the coordinates of the point where the robot may perform a job. A Series of Point Data Program Data Program data Program name Point data Point 【01】 【02】 data 8】 ν Point Job Data Point job data is a set of commands and logical calculations which is executed at a point. You can call the data from point data by specifying the point job number. ν Additional Function Data These are called from each point by means of their numbers. When it is called, the function of additional data is set on a point. ν Sequencer Programs A sequencer program is a set of commands for logical calculations to control the I/O signals to I/O –1 port. It can be executed in the continuous run mode if the system data is set to allow it. ν System Data System data is information registered in system settings. System data controls the overall system of the Robot, including parameters for running and teaching, teaching pendant screen settings and so on. Basic Concepts 18 Dispensing ■ Relationship Between Teaching Data (By running “Programs”, the benchtop robot performs a series of actions and movements.) Program Data Point 1 Job Number 03 Additional Function： Execute condition 01 【Program】 No.1 Point data Point 2 Point 3 Job Number 17 Additional Function： None Point n ～ Job Number 03 Additional Function： Palette 06 Job Number 31 You can call the data from point data by specifying the point job number. The same job data can be called from several points at the same time. (They are the commands to be executed at each point.) No.1 No.2 ～ No.3 No.100 【Point Job Data】 You can call the data from point data by specifying the point job number. The same job data can be called from several points at the same time. (Additional function is set on each point.) No.1 No.2 ～ No.3 No.50 【 Additional Function Data 】：Execute Condition ： Output while moving ： Stop condition Data ： Pallet ： Tool ： PTP Condition ： Work adjustment (Sequencer program controls I/O signals to I/O-1 port while running it.) No.1 No.2 ～ No.3 No.50 【 Sequencer program 】 【System Data】 It controls the overall system of the robot, including parameters for running and teaching, teaching pendant setting and so on. Basic Concepts 19 Dispensing ■Programs 1. Program name Program data consists of the following ten items: The name of the program. You can use up to ten English letters or numbers. 2. Work home position The point the tool unit returns to and waits for the next start after performing the last point job in one cycle of operation. The position is expressed in coordinates. As PTP movement is already set when you set a work home point if you nee to start CP movement, select CP starting point. You can set starting or ending point job data on a work home point, also. 3. Dispense condition Conditions which are necessary to perform a dispensing operation. The Dispense conditions consist of the following 7 items. (1) Dispenser signals No Busy Signal Operation: The robot ignores the busy signal returned from the dispenser. Busy Signal Operation: The robot confirms the busy signal returned from the dispenser while dispensing. Finish Signal: The robot confirms the finish signal from the dispenser when the dispensing operation completes. (2) Device mode Steady: The dispensing time is controlled by the robot. Timer: The dispensing time is controlled by the timer on the dispenser. However, the Timer setting is ignored in line dispensing or when the dispenser signal setting is set to No Busy Signal Operation. In such cases, the operation is carried out in Steady mode even if the Device Mode is set to Timer mode. (3) Wait Time at Start After the dispenser signal is turned on, the robot stands by for the specified Wait Time at Start before it starts moving the tool unit for line dispensing. Standby position: Start of Line Dispense (4) Wait Time at Stop After the dispenser signal is turned off, the robot stands by for the specified Wait Time at Stop before raising the Z axis. Standby position: Point Dispense / End of Line Dispense (5) Up Amount The rising distance of the Z axis. After standing by for the specified Wait Time at Stop, the robot raises the Z axis by the specified Up amount Basic Concepts 20 Dispensing (6) Up Speed The rising speed of the Z axis. After standing by for the specified Wait Time at Stop, the robot raises the Z axis at the specified Up Speed. (7) Wait Time at Up The Wait time after the Z-axis rising. After the tool unit rises by the specified Up Amount at the specified UP Speed, the robot stands by for the specified Wait Time before it starts raising the Z axis at the normal speed. Standby position: Point Dispense +Up Amount/End of Line Dispense + Up Amount Standby position for Wait Time at Up Standby position for Wait Time at Start Standby position for Up Amount Start of Line Dispense 4. Cycle mode Wait Time at Stop End of Line Dispense Mode of operation. There are the following two cycle modes: (1) One-cycle operation The tool unit returns to the work home point and waits for the next start after performing the last point job. (2) Continuous operation The tool unit returns to the first point after performing the last point job and repeats the program continuously. 5. PTP condition Conditions are set for the movements from point to point consisting of the following seven items: (Please note that this is for PTP drive only, not for Point drive.) (1) PTP speed: The speed limit of X, Y and Z axes in PTP movement. Is specified as a percentage of the maximum speed. (2) R axis rotate speed: The speed limit of R axis rotation in PTP movement for 4 axes benchtop robot. Is specified as a percentage of the maximum speed. Basic Concepts 21 Dispensing (3) Relative mode/Absolute mode. Methods of setting an arch motion in PTP movement. There are two modes. Relative mode: The Z movement height is specified in terms of the distance from the start or end point (the reset point). For example, it is specified as raising the Z axis 10 mm from the point. Absolute mode: The Z movement height is specified in terms of the absolute position coordinates of the Z axis height. For example, it is specified as raising the Z axis at the coordinate of Z=20. Φ If you select the relative mode, you will be prompted to enter the “Z move height,” “Z up distance” and “Z down distance.” If you select absolute mode, you will be prompted to enter “horizontal move position,” “start horizontal” and “start down position.” [Arch Motion in PTP Movement] Z=0 Horizontal Move Pos’n Start Horizontal Start Down Pos’n Z Move Height Z Down Distance Z Up Distance Point 2 (4) Z move height/Horizontal move position: Z move height: It is the distance to the horizontal move height from the higher PTP point, whether it is a start point or an end point. Horizontal move position: It is specified in terms of the Z axis coordinate in absolute mode (that is, the distance measured from the Z axis origin). (5) Z up distance/Start horizontal Basic Concepts 22 Dispensing Z up distance: It is the ascending distance of the Z axis from the start point while there is no movement in the X-Y direction. Start horizontal: It is the Z axis coordinate of the position where this vertical movement is completed and the robot starts to move the X and Y axes as well as Z axis. (6) Z down distance/Start down position Z down distance: It is the descending distance of the Z axis to the end point while there is no movement in the X-Y direction. Start down position: It is the Z axis coordinate of the position where the tool unit completes the three-axis movement and starts this vertical descent. (7) R-axis acceleration The limit on the acceleration or deceleration when the R axis rotates or stops in PYP movement for 4 axes benchtop robot. It is specified as a percentage of the maximum acceleration or deceleration. 6. Tool data There are 3 items. They are the tool weight, the distances of the X direction(TCP-X) and the Y direction (TCP-Y) from the standard tool position to the tool center point. You have two choices of the tool weight, equal or less than 3 kg and 6 kg. When it is the two axes robot, two choices are equal or less than 7 kg and 10 kg. The tool weight influences the acceleration of Y and Z axes and the maximum speed. When JR-2200 is using, it is not necessary to set “tool weight”. And the settings for “TCP-X” and “TCP-Y” are necessary when it is 4 axes benchtop robot. Basic Concepts 23 Dispensing Standard Tool (Center, R axis) R Axis TCP-X 7. Move area limit Possible range for each of 4 axes to move. Can be specified for each axis. If these limits are exceeded during operation, the robot recognizes an error and stops. During teaching, the axis will not go over the limits in jog mode, however, the values entered in MDI mode are not restricted by these limits. 8. Rotate speed limit (in CP) The speed limit of R axis in CP movement for 4 axes benchtop robot. Can be specified as a percentage of the maximum speed. 9. Rotate Acceleration Limit (in CP) The limit on the acceleration or deceleration when the R axis rotates or stops in CP movement. Is specified as a percentage of the maximum acceleration or deceleration for 4 axes benchtop robot. 10. Work weight The weight of a work. You have two choices of the weight equal or under 8 kg and 11 kg. It influences on the acceleration speed and the maximum speed of X axis. When using a 200 series, it is not necessary to set the work weight. Basic Concepts 24 Dispensing ＜Point Data＞ There are 5 kinds of point data as the followings. 1. Coordinates X, Y, Z and R Point data indicated in coordinate of X, Y, Z and R. (R point is for 4 axes benchtop robot.) 2. Point type Types of points based on features such as the manner of movement to the next point. There are the following 13 point types: (1) Point Dispense The point where a point dispensing operation is carried out. The tool unit will then move to the next point in PTP movement. (2) Start of Line Dispense The point where the tool unit switches from PTP to CP movement. The dispenser ON/OFF setting and Line speed can be set for this point. This point is also the standby position for the Wait Time at Start specified in the Dispense condition. (3) Line Passing The point where the tool unit changes the direction or the speed of CP movement without stopping. The dispenser ON/OFF setting and Line speed can be set for this poin. (4) Arc Point When the tool unit draws an arc while dispensing, this point is needed to specify the path. No point job can be associated with this point. Basic Concepts 25 Dispensing (5) End of Line Dispense The tool unit completes the line dispensing in CP movement and moves to the next point in PTP movement. This is the point where the tool unit raising specified in the Dispense condition is performed. (6) PTP Evasion Point This point is used to avoid obstacles. No point job can be associated with this point. (7) Wait Start Point The tool unit stands by at the point until the start button is pressed or the start signal comes on. The tool unit will move to the next point in PTP movement. Work Home Position (8) PTP (Point to Point) point The tool unit moves in PTP movement to the next point. (9) CP (Continuous Path) start point The point where the tool unit switches from PTP to CP movement. (10) CP passing point The point where the tool unit changes the direction during CP movement. The moving speed from the previous point is maintained. (11) CP stop point The point where the tool unit changes the direction or performs a point job. The speed is reduced to 0 mm/s at this point. (12) CP end point The tool unit completes the CP movement and goes to the next point in PTP movement. Basic Concepts 26 Dispensing When the tool unit draws an arc in CP movement, this (13) CP arc point point is needed to specify it. No point job can be associated with this point. Φ The points (8) to (13) are classified as General Job Points. 3. Point job number The number for the point job which is performed at the point. When you do not need any point job at this point, you can assign the special point job number “0,” which means that no point job is associated with this point. 4. Line speed The speed of CP movement from the current point to the next point. It is not registered if the movement is not CP movement. 5. Additional function number The number for the additional function associated with the point. You can add some functions to the point besides the point job. More than one additional function can be associated with a single point. However, one point cannot have two or more functions of the same type. You do not have to assign an additional function to a point if not necessary. Basic Concepts 27 Dispensing ν Point Job Data Point job data is a set of commands and logical calculations which is executed at a point. One set of point job data can contain up to 999 commands (from command number 1 to command number 999 at maximum). The robot can store up to 100 sets of point job data (from point job number 1 to point job number 100 at maximum). You can call the point job data from point data by specifying the point job number. However, point job data cannot be associated with certain types of point. On the other hand, there are some point types that can have two point jobs; a “point job at start” and a “point job at end”. The point job at start is carried out prior to the operation unique to that point type (ex. Dispense ON, etc.). The point job at end follows the operation unique to that point type. For details, see the table below. (“√√” indicates “The item can be registered at start and end. “√” indicates “The item can be registered [only once].” A blank indicates the item cannot be associated with the point type.) ν Additional Function Data There are the following six types of additional function data. The each type has 50 kinds of additional function data (from additional function number 1 to 50 at maximum). These are called from each point by means of their numbers. However, some types of additional functions cannot be assigned to certain types of points. Please see the table bellow. (√ : Available.) Additional function data Point Point type job Pallet Stop Output while Execute Work PTP Tool data routine condition moving condition Adjustment condition √√ √ √ √ √ √ √ Point Dispense √√ √ √ √ √ √ √ Start of Line Dispense √√ √ √ √ Line Passing √ √ √ √ Arc Point √√ √ √ √ End of Line Dispense √ √ √ PTP Evasion Point √√ √ √ √ √ √ √ Wait Start Point √ √ √ √ √ √ √ PTP Point √ √ √ √ √ √ √ CP Start Point √ √ √ √ CP Passing Point √ √ √ √ CP Stop Point √ √ √ √ CP Arc Point √ √ √ CP End Point √ Work Point Position √√ √ √ √ √ √ (PTP) Work Point Position √√ √ √ √ √ √ (CP Start) Φ In the case of for work home point, “Point job at start” is carried out prior to the operation of the program and a “Point job at end” is carried out following the operation of a program on the coordinate of work home point. When the cycle mode of running is set on “Continuous running”, “Point job at start/Point at end” is executed only when the each axis is on the work home point prior to/following the operation of a program. Basic Concepts 28 Dispensing 1. PTP condition data It is the same contents with the items set at the program data. Use this function to change the settings between certain points. 2. Tool data It is the same contents with the items set at the program data. Use this function when tool data changes from the one set at the program data between the certain points. 3. Pallet routine A pallet routine consists of the coordinates of the origin point and its offsets with counters.( Please refers to the manual of Function section for details.) 4. Stop condition data (in CP movement) Stop conditions (logical calculation) and a point job number. When stop conditions are met during CP movement, the robot stops at the spot and carries out the specified point job. 5. Output while moving Output address and waiting time. Output signals for specific address are sent during operation. 6. Execute condition Judges whether to run the set point. If the conditions are not met, the tool unit will skip the point and move to the next point. 7. Work adjustment Adjustable as much as the numeric value input to the specific point position. ν Sequencer Programs A sequencer program is a set of commands for logical calculation to control the I/O signals to I/O-1 port, the internal relays, the timer and the counter. Input and output signals to I/O-1 ports can also be controlled by point job data, but you can control them independently if you use a sequencer program. A sequencer program can be executed in continuous run mode if the system data is set to allow it. A sequencer program can contain up to 50 commands (from command number 1 to 50). Up to 50 sequencer programs can be stored in the robot. Basic Concepts 29 Dispensing ν System Data System data controls the overall system of the benchtop robot. It has divided into six kinds of data. 1)LCD display Settings for the luminosity adjustment, language and etc. on LCD teaching pendant. 2)Default of program data When you teach a new program, the value set here is registered to a program data as default. 3)Parameter while teaching Jog moving speed (Moving speed of each axis while teaching), etc. 4)Parameter while running Settings for sequencer program number, initializing movement, etc. 5)Communication settings Communication setting of COM1 6)I/O function setting Function setting for I/O-1 ν Saving the Taught Data When you save the data you taught in a memory card, not only the program data but all the taught data including system data will be saved in the card. The data stored in the robot will only be maintained for about 72 hours when the power is turned off. Therefore, you should save the data to a flash memory card, which can keep the data indefinitely. The data in a memory card can be used as backup data in case of a breakdown, power failure, etc. Be sure to save your data in a memory card after any addition or modification to the taught data. Basic Concepts 30 Dispensing ν BASIC KEY OPERATIONS ν The following pages show the basic key operation on the teaching pendant in teaching mode. ν Base Condition Select the TEACH mode of the screen on the teaching pendant. The screen displays the existing values of the point data in the selected program; that is, the program which was registered, edited or executed last time the power was on. Let us call this type of screen, the Point Setting Screen. Then, pressing the DISP Æ key brings up the Point Setting Screen for the next point. Press DISP Æ several times until the screen is ready for entering a new point which comes after the last point. We call this type of screen the New Point Entry Screen. When the screen displays a list of existing point values or no values (when a new point can be entered), we say the robot is in “base condition.” Base-Condition Screens No. 1 0001 No. 1 0025 X+23 Y+324 Z+25 R+12 X 0.00 mm Type CP Start Point Y 0.00 mm Line Speed 5 mm/s Z 0.00 mm Point Job Number 03 R 0.0 deg Output while moving 06 JOG MDI INIT Point Setting Screen New Point Entry Screen Key Functions ＜Key Functions Common to All Screens＞ MENU Displays a menu of commands. PROG.NO Displays the Program Number Entry Screen. Press this key to choose a different program or to select an empty program address for a new program. SAVE Used to display the confirmation screen to save teaching data to a memory card. Basic Concepts 31 Dispensing EDIT Edit menu is displayed to edit point data. GO Each axis moves to the point currently displayed on the screen. F. 3 Point operation is executed. This key runs the displayed point where point job data or additional function are set. Then, Point Setting Screen displays the next point. When running CP start point, this key runs through until CP stop point. Point Setting Screen will display from CP start point till CP stop point, also. Warning DISP Å Do not enter the robot’s work range during operation. Displays the settings for the preceding point. When the point “0001” is displayed, this key is disabled. DISP Æ Displays the settings for the next point . If the next point has not been registered, the entry screen for a new point will appear. When the next point is not registered, this key is disabled. SHIFT + DISP Å Displays the first point (No. 0001). SHIFT + DISP Æ Displays the New Point Entry Screen for the point after the last point. SEL ↑ To move the selection highlight upward. When the first line of the first page is already highlighted, this key is disabled. SEL ↓ To move the selection highlight downward. If this key is pressed when the last line is highlighted, the first line on the next page will be highlighted. If this key is pressed when the last line of the last page is highlighted, a table of additional function data on a point where is possible to set is displayed. Basic Concepts 32 Dispensing ALT Changes Tool valid or invalid, or sets it in teaching. Ｎｏ．１ ０００１ 1/2 X+23 Y+324 Z+25 R+12 Type CP Start Point Line Speed ５mm/s Point Job Number ０３ Output while moving ０６ Tool The place indicated nothing on the right end is the point additional function data registered noting Registered Not registered. ( But possible to register.) SHIFT + SEL ↑ Jumps to the preceding page. SHIFT + SEL ↓ Jumps to the next page. ENTER Displays modification entry or selection screen for the highlighted item. If the point number is highlighted, pressing ENTER will bring up the Point Number Entry Screen. If you enter a point number, the screen will display the settings for that point. Φ The Point Setting Screen sometimes covers more than two pages. When the current screen is the first page of 2 pages, it is indicated as “1/2” on the up right position of the screen. Φ New Point Entry Screen is not only base-condition screen, but also it is Point Setting Screen. Please refer to “Entering a Position” on p. 38. Basic Concepts 33 Dispensing ν Selection Notes The selection screens include the menus and confirmation screens. “Select Item” means to highlight it and to press ENTER key. Selection Screens: Select Item Program Point Job Data PTP Condition Data Tool Data Pallet Data Stop Condition Data Page 1 1 to 0 1/2 Select Item Output while moving Execute Condition Data Sequencer Data Delete All Teaching Data Reset System Data > > > > > > 2/2 > > > Page 2 Press “1” to highlight the first option in a list, “2” to select the second line, and so on. In the above screens, pressing “7” would highlight the first line on page 2. (“0” equals “10,” here.) If you set the number larger than the item number listed, it is disabled. SEL ↑ To move the selection highlight upward. When the first line of the first page is already highlighted, this key is disabled. SEL ↓ To move the selection highlight downward. If this key is pressed when the last line is highlighted, the first line on the next page will be highlighted. When the last line of the last page is highlighted, this key is disabled. SHIFT + SEL ↑ Jumps to the preceding page. SHIFT + SEL ↓ Jumps to the next page. . (decimal) Highlights the last line on the page. (If the menu covers more than one page, the last line on the last page will be highlighted.) ENTER Confirms the highlighted option or the value you have input or displayed the selection or entry screen related to the highlighted item. If you are entering a new point, the screen will jump to the selection or entry screen for the next item in the point data. When all the items in the point data have been entered, the screen will jump to Basic Concepts 34 Dispensing the entry screen for the next point. Φ “>” to the right of an option indicates a submenu will appear, if chosen. Φ When one screen extends more than one page, the current and total page numbers will be shown on the upper right corner of the screen. for example, “1/2” indicates that the current page is the second page of the total 2 pages. ESC Returns to the preceding screen or to the base condition. SHIFT + ESC Returns to the base condition. Example of Confirmation Screen All Teaching Data Save OK? YES DISPÅ NO Moves the cursor leftward by one space. This key is disabled if the leftmost item is highlighted. DISP Æ Moves the cursor rightward by one space. This key is disabled if the rightmost item is highlighted. Basic Concepts 35 Dispensing ν Entering Numeric Values Sample Numeric Value Entry Screen Enter a number. X Offset Enter a number. 3 . 00 mm (With cursor) X Offset 3. 00 mm (Without cursor) Φ The cursor highlights one character and blinks. Φ The following instructions do not apply to entering X, Y and Z coordinate values. In this case, refer to “MDI (Manual Data Input) Mode” on p. 42. SEL ↑ Increases the value. If you release the key within 0.5 seconds, the value will increase by the minimum increment. Hold the key to increase the value quickly (i.e. at intervals of 0.2 seconds). SEL ↓ Decreases the value. If you release the key within 0.5 seconds, the value will decrease by the minimum increment. Hold the key to decrease the value quickly (i.e. at intervals of 0.2 seconds). SHIFT + SEL ↑ Increases the value by ten times the minimum increment. SHIFT + SEL ↓ Decreases the value by tem times the minimum increment. DISP Å Moves the cursor leftward by one space. This key is disabled if the cursor is placed on the leftmost figure. If this key is pressed when the cursor is not visible, the cursor will appear on the rightmost figure. DISP Æ Moves the cursor rightward by one space. If this key is pressed when the cursor is on the rightmost figure, the cursor will disappear. This key is disabled when the cursor is not visible on the screen. 1 to 0 The number keys replace the highlighted figure. If the cursor is not visible on the screen, the figures on the screen will move leftward by one place and the number of the pressed key will appear in the Basic Concepts 36 Dispensing rightmost place. . To enter a decimal point. ± (plus/minus) Changes the value from positive to negative and vice versa. This key is disabled if the item cannot be negative. CLEAR Clears the entire numeric value. DEL Deletes the current digit (or decimal point). Figures to the left of the cursor will move right. (Note that the decimal point cannot be deleted if deletion will cause the value to fall out of the possible setting range for the item.) If there is no cursor on the screen, the rightmost figure will be deleted and the other figures will be moved rightward by one place. ENTER Confirms the value and returns to the preceding screen or to the base condition. If this key is pressed when New Point Entry Screen is displayed, the screen will proceed to entering/selection screen for next setting item for point data. When there is nothing to set any more, New Point Entry Screen for next point will appear. ESC Returns to the preceding menu or to the base condition without confirming the value. SHIFT + ESC Basic Concepts Returns to the base condition without confirming the value. 37 Dispensing ν Entering a Position No. 1 X Y Z R JOG MDI < Point Entry Screen > 0001 0.00 mm 0.00 mm 0.00 mm 0.00 deg INIT Å The current position entry mode is highlighted. There are two methods (or “modes”) for setting the position of the axes. You can switch the point entry mode by pressing the F 1 and F 2 keys. 1. Jog mode In this mode you can move the axes and set the coordinates by pressing the jog keys on the teaching pendant. Jog keys: ↑X ↓X ÅY YÆ R R Z↑ Z↓ 2. MDI (Manual Data Input) mode In this mode you can set the coordinates by pressing the number keys on the teaching pendant. Φ You can change from MDI mode to Jog mode by pressing one of the jog keys. Φ Note that if you change from MDI mode to Jog mode, the coordinates on the screen will change to each current axis position. Φ Press F.3 for mechanical initialization. Basic Concepts 38 Dispensing Using the Function Switch Key If you press the FUNC key while displaying the Position Entry Screen, the functions of the F. 1 , F. 2 , and F. 3 keys will change as follows: No. 1 X Y Z R Low JOG 0001 0.00 mm 0.00 mm 0.00 mm 0.0 deg MDI F. 1 key : Switches to Jog mode. F. 2 key: Switches to MDI mode. F. 3 key: Executes Initialization INIT FUNC key FUNC key No. 1 X Y Z R Low 0001 0.00 mm 0.00 mm 0.00 mm 0.0 deg When no point job is associated with the F. 1 , F. 2 or F. 3 key. F.3 key: The dispenser is kept on while you hold the key. It is turned off when the key is released. Dispense When a point job is associated with any of the F. 1 , F. 2 or F. 3 key. FUNC key No.1 X Y Z R Low 0001 0.00 mm 0.00 mm 0.00 mm 0.0 deg The robot will carry out the point job which is associated with the F. 1 , F. 2 or F. 3 key. If no point job is associated with any of these keys, the point job numbers on the bottom line will not be displayed. J01 J07 J12 J01 refers to Point Job Data 01. Φ For the procedures to associate point jobs with the F. 1 , F. 2 and F. 3 keys, please refer to “Running the Point Job during Teaching” on p. A-7 of the Functions section Basic Concepts 39 Dispensing ν Jog Mode Warning Do not enter the robot’s work range during operation. In Jog mode, you can move the axes and set the coordinates by pressing the jog keys on the teaching pendant. Press the following keys. Liquid crystal display, LCD, of teaching pendant will display the coordinate figures of the current position for each axis. Effect of Jog Keys: The axis will move toward + (plus) X direction. ↓ X The axis will move toward − (minus) X direction. ÅY The axis will move toward − Y direction. YÆ The axis will move toward + Y direction. Z ↑ The axis will move toward − Z direction (up). Z ↓ The axis will move toward + Z direction (down). R R Job keys ↑X The axis will rotate toward − R direction (clockwise, from above). The axis will rotate toward + R direction (counterclockwise, from above). Φ Each time you press one of the above keys, ↑ X ～ R , each axis will move or rotate 0.05 mm (X,Y) , 0.025 mm (Z), and 0.09 degrees (R). Φ Refer to the diagrams of “Coordinate System” on p.17 for the directions. Φ When jog key is pressed continuously, the axis will start moving 0.5 mm/s at low speed. If it is continued to press furthermore, it increases the speed up to 5mm/s at middle speed. SHIFT + Jog key Basic Concepts Axis will move or rotate 40 mm/s at high speed. 40 Dispensing Φ When moving at low/middle speed, if SHIFT key is pressed additionally, it increases the speed gradually and finally reaches to high speed. Φ When SHIFT + Jog key is pressed and moving at high speed, if only SHIFT is released, the axis will gradually decrease the speed and move at middle speed. ENTER Confirms the coordinates. If it is a new point, the screen will advance to the Point Type Selection Screen. When modifying the current point, the screen will return to the Point Setting Screen (base condition). ESC Disabled when you are entering a new point. The screen will return to the Point Setting Screen (base condition) when modifying the current point. F.2 The position entry mode will change to MDI mode. F.3 Mechanical initialization will be carried out. Φ The tool unit movement in Jog mode is restricted by the move area limits. If the X, Y, Z and R will not move over a certain area, check the move area limits. For more information, please refer to “Restricting the move area in certain coordinates” on p. B-41 of the Functions section. Φ The speed of jog movement while one of the jog keys is held can be changed. Please refer to “Increasing or Decreasing the Jog Speed in Teaching” on p. A-6 of the Functions section. Basic Concepts 41 Dispensing ν MDI (Manual Data Input) Mode In MDI mode, the coordinates are entered with the number keys of Teaching pendant. The tool unit will not move to the entered position unless you press the GO key. > No. X Y Z R JOG 1 to 0 0001 0.00 mm 0.00 mm 0.00 mm 0.0 deg MDI Å The symbol “>” indicates the item being registered. Å The current position entry mode is highlighted. The number keys overwrite the figure highlighted with the cursor. If there is no cursor on the screen, the numbers will be moved leftward by one space and the number of the key you press will be entered in the last place. . Enters a decimal point. ± (plus/minus) Changes the value from positive to negative and vice versa. This key is disabled if the item can not have any negative numbers. CLEAR Clears the entire numeric value. DEL Deletes the digit (or decimal point) highlighted with the cursor. Figures to the left of the cursor will move right. (Note that the decimal point cannot be deleted if deletion will cause the value to fall out of the possible setting range of the item.) If there is no cursor on the screen , the rightmost figure will be deleted and the other figures will be moved rightward by one place. Φ The keys listed above are called “numeric entry keys.” SEL ↑ The item indicated with the “>” symbol will switch to the one line above. SEL ↓ The item indicated with the “>” symbol will switch to the one line below. Basic Concepts 42 Dispensing DISP Å Moves the cursor leftward by one space. If the cursor is placed at the left end, it doesn’t work. If it is not currently visible, press this key to show the cursor in the last place. DISP Æ Moves the cursor rightward by one space. When the cursor is placed at the last place, and if this key is pressed, the cursor will disappear. This key is disabled if the cursor is not visible. Each axis will move to the position expressed by the coordinates GO on the screen. Warning ENTER Do not enter the robot’s work range during operation. Confirms the coordinates. If you are entering a new point, the screen will advance to the Point Type Selection Screen. When modifying an existing point, the screen will return to the Point Setting Screen (base condition). ESC This key is disabled if you are entering a new point. When modifying an existing point, the screen will return to the Point Setting Screen (base condition). F.1 The position entry mode will change to Jog mode. The coordinates on the screen will be replaced with position of the current tool center point. You can have the same effect by pressing the jog key. F.2 Every time this key is pressed, the item indicated with the “>” symbol will switch X to Y, Y to Z, Z to R, and return to X again. F.3 Mechanical initialization will carried out. Φ Position entering in MDI mode is not restricted by the move area limits. If the position has to fall within the move area limits, change to jog mode to enter the position or check the coordinates so that they do not exceed the limits. For detailed information on move area limits, please refer to “Restricting the move area in certain coordinates” on p. B-41 of the Functions section. Basic Concepts 43 Dispensing ν Entering Names The following will explain how to register a name for each program or point job you have taught. Name Editing Screen Å ABCDE FGHIJ KLMNO PQRST UVWXY Z!# %$a b c d e f g h i j k l m n o p q r s t uvwxy z & ’ ` SEL ↑ 7 4 1 0 ( E 8 5 2 − + N The registered letters will be displayed on the top line. ( The cursor cannot be moved to this line.) 9 6 3 . ) D Moves the cursor to the line above (not counting the line with the already entered letters on the top of the screen). SEL ↓ Moves the cursor to the line below. DISP Å Moves the cursor leftward one place skipping blanks. DISP Æ Moves the cursor rightward one place skipping blanks. ENTER Confirms the highlighted letter. The letter will be added to those on the first line in the rightmost place. If the cursor highlights END, the name on the top line will be registered. Then the screen will return to the preceding menu. DEL Deletes the rightmost letter on the top line. The remaining letters will be moved rightward by one place. ESC Returns to the preceding menu. The name on the top line will not be registered. SHIFT + ESC Returns to the Point Setting Screen. The name will not be registered. Φ The cursor cannot be moved to a blank. It cannot be moved to the first line of already registered letters, either. Basic Concepts 44 Dispensing