Equipment Operation Manual Loctite S440 Series Scara

Transcript

EQUIPMENT OPERATION MANUAL Loctite S440 Series SCARA Robots Book 2 of 4: Quick Start A Company FOR SAFE USE Safety Notes Read the following Warnings and Cautions thoroughly for the safe use of the Scara 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. ‫ ع‬Symbols 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. ‫ ع‬Symbols 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. Quick Start i FOR SAFE USE continued from the previous page 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 corrosive gas could lead to fire. Quick Start ii FOR SAFE USE continued from the previous page 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. When you use an extension cord, keep it off 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 Scara 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. Quick Start iii 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. Quick Start iv Š PREFACE Š The Loctite SCARA Robot S440 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 S440 Series. In addition to this Quick Start section, there are Basic Concepts, Functions and Specifications sections. Also refer to them in actual operation of the machine. Basic Concepts Quick Start Information necessary for basic operation of the robot, including safety information and part names. Š Be sure to read it. Š Describes how to operate the SCARA Robot S440 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 SCARA Robot S440 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 SCARA 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-22 of the Functions section. Quick Start v ‫ع‬CONTENTS‫ع‬ QUICK START For Safe Use........................................................................................................... I Preface .................................................................................................................. v Contents ................................................................................................................. vi 1. Operation Process............................................................................................. 1- 1 2. Let’s Operate the Scara Robot (1) ................................................................... 2- 1 2.1 Preparation ............................................................................................ 2- 1 2.2 Teaching ................................................................................................ 2- 2 2.2.1 Program Number Setting............................................................... 2- 2 2.2.2 Program Data Setting .................................................................... 2- 3 2.2.3 Point Position Setting..................................................................... 2- 5 2.2.4 Point Type...................................................................................... 2- 8 2.2.5 Point Job Number.......................................................................... 2- 8 2.3 Program Test ......................................................................................... 2- 9 2.4 Running.................................................................................................. 2-11 2.4.1 Emergency Stop ............................................................................ 2-12 2.4.2 I/O Operation ................................................................................. 2-13 Tips on Key Functions........................................................................................... 2-15 3. Let’s Operate the Scara Robot (2) .................................................................... 3- 1 3.1 Program Number Setting....................................................................... 3- 1 3.2 Modifying Program Data........................................................................ 3- 1 3.3 Point Data Setting.................................................................................. 3- 3 3.3.1 Point Position Setting..................................................................... 3- 3 3.3.2 Point Type...................................................................................... 3- 3 3.3.3 Dispense ON/OFF Setting and Line Speed .................................. 3- 3 3.4 Program Test, Running.......................................................................... 3- 5 4.Saving Data ........................................................................................................ 4- 1 5.Troubleshooting.................................................................................................. 5- 1 5.1 Self Diagnosis Function ......................................................................... 5- 1 5.2 Diagnosis Mode ..................................................................................... 5- 1 6.Maintenance....................................................................................................... 6- 1 Quick Start vi 1. OPERATION PROCESS Operations such as teaching will be necessary to run this Scara Robot,. The process of operation before running is shown below. Preparation 1. Preparation  Select a Program Number p 2. Enter a program number Enter Program Data p 3. Enter the program data. Enter Point Position Select Point Type p 5. Program test Enter Point Job (Enter Line Speed) p 6.Running Repeat the steps for each point Test Running Quick Start 1-1 Teaching p 4. Enter a point job data 2. LET’S OPERATE THE SCARA ROBOT (1) In this section, we will teach a simple program and operate the robot. First, let’s teach a program which runs through these two points: Point Number 0001 0002 RX 70 mm RX 150 mm Coordinates RY 300 mm RY 200mm Z Z 80 mm 80 mm Point Type Point Dispense PTP Point 2.1 Preparation 1) Install the Scara Robot in the production area and connect the operation box, teaching pendant and the shorting connector for the safety guard (to I/O-S). Be sure to prepare protective measures such as an area sensor or enclosure to avoid injury when you install the Warnings product. Check grounding in order to prevent electric shocks 2) Set the Mode switch on the operation box to TEACH. 3) Turn on the main Power switch on the back of the Scara Robot. 4) The screen on the teaching pendant says “Press Motor ON Switch.” 5) Press the motor power switch on the operation box. 6) The screen on the teaching pendant says “Press F.3 Key with Dead-Man Switch.” 7) Hold the “dead-man” switch on the side of the teaching pendant and press F.3 for mechanical initialization. The robot’s arm will move to the mechanical home position. When the mode switch on the operation box is set to TEACH, the mechanical initialization switch on the operation box is disabled. Only the teaching pendant can start the robot in this condition. Quick Start 2-1 2.2 Teaching 2.2.1 Program Number Setting Here, we will select an empty program number 03. 1) First, select an empty program number. If no program has been taught yet, the program number screen will appear when Teaching mode is selected If there are already some registered programs, press PRG.NO to change to the screen at right. Enter a number. Program Number 1 NEW LIST F.1 F.2 F.3 Program Number Entry Screen Select Item 1/15 01 02 03 Press SEL p twice to highlight “03” and 05 press ENTER . 06 10 (Each time SELp is pressed, the highlight will move down one line.) List of New (Empty) Program Numbers 2) Press F.1 (NEW) to see a list of new (empty) program numbers. ✦ “Select” means to highlight a certain item and press the ✦ On the Program Number Entry screen, press the F.2 ENTER key to confirm it. (LIST) key to see a “list” of program numbers currently in use. ✦ You can also enter a program number on the Program Number Entry screen. Please refer to “Entering Numeric Values” on p. 31 of the Basic Concepts section. 3) After selecting the program number, the New Point Entry Screen for Point 0001 will appear (see right). Quick Start 2-2 No. 3 0001 RX 0 mm RY 440 mm Z 0 mm R 0 deg Low JOG MDI DIRECT New Point Entry Screen 2.2.2 Program Data Setting The program data is the data which controls the whole program. For example, before entering the actual point coordinates, we need to decide how the dispensing operation is carried out. Here, we will set five items in the “Dispense Condition” for the current program. They are “Dispenser signal setting,” ”Device Mode,” “Up Amount,” “Up Speed,” and “Wait Time at Stop.” 1) We are going to change the Dispense Condition in the Program Data. Press MENU to display the screen at right. Highlight Program Data Settings and press ENTER . 2) The Program Data Menu will appear. Select Dispense Condition. ‫ ع‬Dispenser Signal Setting  The Dispense Condition Setting Screen at right will appear. Select the Dispenser signal setting. Select the type of the return signal of the currently used dispenser. The screen will return to the Dispense Condition Setting Screen.  Quick Start 2-3 Select Item Program Data Settings Point Job Settings Additional Function Data System Settings Sequencer Settings Teaching Data Copy, Delete MENU 1/2 Select Item Program Name Work Home Dispense Condition Cycle Mode Setting PTP Condition Tool Data Program Data Menu 1/2 Select Item 1/2 No Busy Signal Operation Device Mode Steady Wait Time at Start 0 sec Wait Time at Stop 0 sec Up Amount 0 mm Up Speed 10 mm/s Dispense Condition Setting Screen   Select Item No Busy Signal Operation Busy Signal Operation Finish Signal    Dispenser Signal Setting Screen ‫ ع‬Device Mode Select Device Mode from the Dispenser Condition Setting Screen. The Device Mode Selection Screen at right will appear. Here, select the type of the dispenser. The screen will return to the Dispense Condition Setting Screen. Select Item Device Mode Device Mode Steady Timer Device Mode Selection Screen  ‫ ع‬Up Amount Select Up Amount from the Dispense Condition Setting Screen. You will be prompted to enter the Up Amount (see right). Input the desired value and press ENTER to confirm. Here, we will enter 50 mm as the Up Amount. Press CLEAR 5 0 , then press ENTER to confirm. The screen will return to the Dispense Condition Setting Screen. ‫ ع‬Up Speed Select Up Speed from the Dispense Condition Setting Screen. You will be prompted to enter the Up Speed (see right). Here, we will enter 10 mm/s as the Up Speed. Press CLEAR 1 0 and then press ENTER to confirm. The screen will return to the Dispense Condition Setting Screen. ‫ ع‬Wait Time at Up Select Wait Time at Up from the Dispense Condition Setting Screen. You will be prompted to enter the Wait Time at Up (see right). Here, we will enter 1 sec as the Wait Time at Up. Press CLEAR 1 , then press ENTER to confirm. The screen will return to the Dispense Condition Setting Screen. Quick Start 2-4   Enter a number  Up Amount 0 mm   Up Amount Entry Screen     Enter a number  Up Speed 10 mm/s   Up Speed Entry Screen   Enter a number  Wait Time at Up 0 sec   Wait Time at Up Entry Screen   2.2.3 Point Position Setting Position Setting Screen for a New Point No.3 0001 1) Press SHIFT + ESC to go to the Position Setting Screen for the . RX 0.00 mm selected program. RY 440.00 mm We are now set up to begin entering Z 0.00 mm point data for Point 0001 of Program R 0.0 deg No.3. The current position entry mode is highlighted.Æ JOG MDI DIRECT F.1 F.2 F.3 (Program 3, Point 0001) ✦ “RX” and “RY” on the Point Setting Screen indicate that the robot will reach the point in the “righty” (right-handed) arm position. For “lefty” arm position, the screen would show “LX” and “LY.” On the other hand, if you chose to view the arm position by the angle of the arm joints, “J1” and “J2” would be displayed. Please refer to “Changing the Arm Shape” on p. A-4 of the Functions section. Lefty (Left-handed) arm shape Quick Start Righty (Right-handed) arm shape 2-5 2) There are three methods for entering position coordinates: Jog, MDI (Manual Data Input) and Direct. These are indicated on the bottom line of the display screen. To begin with, let’s use the jog method. The highlighted item is the currently selected mode. If another item is highlighted instead of JOG, press F.1 . 3) Enter the position coordinates of Point 0001 according to the settings below. Point Number 0001 Coordinates RX 70 mm, RY 300 mm, Z 80 mm Point Type Point Dispense Use the Jog keys while holding the dead-man switch on the teaching pendant. The screen will display the position coordinates of the current arm position. When the arm comes to the desired position, press ENTER to confirm. For the direction of each arm, please see to the picture on the previous page. ÅX/J1 The tip will move in – X direction (to left when standing behind base). X/J1 Æ The tip will move in + X direction (to right when standing behind base). ÅY/J2 The tip will move in – Y direction (arm is contracted). Y/J2Æ The tip will move in + Y direction (arm is extended). nZ The tip will move in – Z direction (up). pZ The tip will move in + Z direction (down). ÅR The tip will move in – R direction (clockwise, from above). RÆ The tip will move in + R direction (counterclockwise, from above). ✦ Each time you press one of the above keys, the tip will move in 0.05 mm increments in Low speed setting, 0.2 mm increments in Middle speed setting, and 0.5 mm in High speed setting. Quick Start 2-6 SEL n Increases the moving speed of the arm while you hold a jog key. Press this key when you want to shift from Low speed to Middle speed or from Middle speed to High speed. SEL p Reduces the moving speed of the arm while you hold a jog key. Press this key when you want to shift from High Speed to Middle Speed or from Middle Speed to Low Speed. ENTER Warning This key confirms the current coordinates. Do not enter the robot’s work range during operation. ✦ If the J1 or J2 axis of the arm will not rotate over a certain angle, the arm movement may be restricted by move area limits. For move area limits, please refer to “Restricting Arm Rotation “ on p. B-39 of the Functions section. ✦ There are three methods (or modes) to enter the position of the arms; Jog mode, MDI (Manual Data Input) mode, and Direct mode. These are described in detail in “Entering a Position” on p. 33 of the Basic Concepts section. Quick Start 2-7 2.2.4 Point Type 1) When you input the position coordinates and press ENTER , the Point Type  Selection Screen at right will appear.  2) Select the type of the point. Here, we will use a Point Dispense point.   3) Select Point Dispense. You will be prompted to enter the Dispense Time (see right). Here, we will enter 1 sec as the Dispense Time. Press CLEAR 1 , then press ENTER to confirm. Select Item 1/2 Point Dispense Start of Line Dispense Line Passing Arc Point End of Line Dispense PTP Evasion Point Point Type Selection Screen, page 1   Enter a number Dispense Time 1 sec   Dispense Time Entry Screen  4) After the Dispense Time is confirmed, the screen will be ready for entering the next point. (The point number will be [the current point number + 1].) Teach Point 0002 according to the settings below. Please refer to “2.2.3 Point Position Setting” from p. 2-5. Point Number 0002 2. 2. 5 Coordinates RX – 150 mm, RY 200mm, Z 80mm Point Type PTP Point Point Job Number 1) After selecting the point type, you are prompted to enter a Point Job Number. For now, let’s enter the Point Job Number “0” and press ENTER to confirm. The special number “0” means no point job is associated with this point. Enter a number. Point Job Number 1 NEW LIST VIEW F.1 F.2 F.3 Point Job Number Entry Screen ✦ For entering numeric values, please refer to “Entering Numeric Values” on p. 31 of the Basic Concepts section. Quick Start 2-8 2.3 Program Test After teaching all the points, be sure to test the program. 1) Press MENU to see the menu screen and then press SHIFT  SEL p to jump to the next page. Select Item Program Data Settings Point Job Settings Additional Function Data System Settings Sequencer Settings Teaching Data Copy, Delete Menu, page 1 1/2 Select Item Test Data Save Utility Maintenance 2/2 Menu, page 2 2) Select Test, which is the first line on the second page of the menu. Select Item Checking Data Test Run The Program Test Screen at right will appear. Program Test Screen 3) Checking Data Select Checking Data on the Program Test Screen to check the operation range and the point type of the taught data. If no errors are found, the screen will indicate “OK” as the screen at right shows. No. 3 Checking Data When an error is found, the screen will indicate the type of error and the point number where the error occurs. OK Program data is OK. ✦ For detailed error information, please refer to “Errors in Point Position” on A-69 and “Errors in Point Type” on p. A-71 of the Functions section. Quick Start 2-9 4) Test Run If the program data is OK, select Test Run to run the program for one cycle. If the speed you taught was faster than 250 mm/sec., it will be reduced during the Test Run for safety. All other conditions will be the same as taught. When you modify your program, be sure to test it before actually using it. Warning Quick Start Do not enter the robot’s work range during operation. 2-10 2.4 Running Now let’s switch to Run mode and run the program we taught. Press SHIFT + ESC to jump back to the Point Setting Screen. Turn the mode switch on the operation box to RUN. Press the initialization switch on the operation box. After mechanical initialization (when the arm returns to the home position), press the Start button on the operation box to start the robot. ✦ No. 3 LX+70 Type LY+300 0001 Z+80 R+0 Point Dispense Point Setting Screen (Base Condition) Be sure to carry out a program test before you run a new program. Warning Quick Start Do not enter the robot’s work range during operation. 2-11 2.4.1 Emergency Stop The emergency stop function is used when the robot needs to be stopped immediately due to an unexpected accident. There is an emergency stop button on the teaching pendant and another one on the operation box. Try running the taught program and hitting one of them. The power source is turned off and the robot is stopped immediately. Resetting: 1) Turn the Emergency Switch Button clockwise to reset it and enable operation of the robot. 2) Press the Motor Power ON switch on the operation box. The screen on the teaching pendant will display “Press Initialize Switch.” 3) Press the initialization switch on the operation box. The arms of the robot will move to the mechanical home position (fully extended). After mechanical initialization, the robot is ready to operate. Set the desired mode with the Mode switch on the operation box. Quick Start 2-12 2.4.2 I/O Operation You can connect an external switch to the I/O – 1 terminal on the back side of the Scara Robot and start operation by turning on the A 01 signal of I/O – 1 terminal. I/O - 1 Function Start Mechanical initialization Move to work home position Reset (Error reset) Load the program number Program number bit 0 Program number bit 1 Program number bit 2 Function Ready for start Mechanical initialization completed Move to work home position completed Program number acknowledgement Error in program number Running Stopped Recognizing error INPUT Signal Function A 01 Program number bit 3 A 02 Program number bit 4 A 03 Program number bit 5 A 04 Program number bit 6 A 05 Command for the final workpiece in the cycle A 06 Temporary stop A 07 A 08 OUTPUT Signal Function B 01 Stopped for emergency B 02 Motor power on request Signal A 09 A 10 A 11 A 12 A 13 A 14 A 15 A 16 Signal B 09 B 10 B 03 Initialization request B 11 B 04 Homing request B 12 B 05 B 06 B 07 B 08 Dispenser error B 13 B 14 B 15 B 16 < I/O-2 > Function Dispenser Busy Signal    INPUT Signal A 17  A 18  A 19  A 20  Function Signal A 21 A 22 A 23 A 24 Function Signal B 21 B 22 B 23 B 24  Function Dispense ON/OFF    Quick Start OUTPUT Signal B 17  B 18  B 19  B 20  2-13 ✦ For detailed information on I/O operation, please refer to “Specifications for I/O-1 and I/O-2 Ports” on p. 4-1 of the Specifications section. Quick Start 2-14 3. LET’S OPERATE THE SCARA ROBOT (2) In this section, we will teach and run a program which involves CP movement. The arm will run through the five points shown below. Second Point First Point Line Passing Start of Line Dispense Third Point Arc Point Fourth Point Fifth Point Line Passing End of Line Dispense 3. 1 Program Number Setting Here, we will teach a program in an empty program number 04. Select Program 04 from the list of empty program numbers. Please refer to “Program Number Setting” on p. 2-2 3. 2 Modifying Program Data Change the position coordinates of the Work Home position to the ones below Point Number Work Home Position Coordinates RX 350 mm, RY 200 mm, Z 50 mm 1) Press the MENU key. The screen will display the menu at right. Highlight Program Data Settings and press ENTER to confirm. Quick Start 3-1 Select Item Program Data Settings Point Job Settings Additional Function Data System Settings Sequencer Settings Teaching Data Copy, Delete Menu1 1/2 2) The screen will change to the Program Data Setting Menu at right. Select Work Home. The screen will display the current Work Home position settings. 3) Select the position coordinates. The screen will be ready for entering a new position (in MDI mode). Select Item 1/2 Program Name Work Home Cycle Mode Setting PTP Condition Tool Data Move Area Limit Program Data Setting Menu Work Home RX+70 RY+300 Z+50 R+00 Type PTP Point Job Number at Start 0 Job Number at End 0 Work Home Setting Screen ✦ If you need to change the point type of the Work Home, select Type from the screen above. If you need to change the Job Number at Start or End, select the appropriate line on the same screen. 4) Enter the new coordinates. Work Home To enter values, refer to “MDI (Manual Data Input) Mode” on p. 38 of the Basic Concepts section. Input values and press ENTER . The screen will return to the Point Setting Screen. > RX RY Z R 0.00 mm 440.00 mm 0.00 mm 0.0 deg JOG MDI DIRECT Position Setting Screen Now coordinate change is completed. ✦ You can enter the values for the new Work Home position also in jog mode or direct mode. To change the mode, please refer to “MDI (Manual Data Input) Mode” on p. 38 of the Basic Concepts section. Quick Start 3-2 3.3 Point Data Setting 3.3.1 Point Position Setting Refer to “2.2.3 Point Position Setting” on p. 2-5 to enter the position coordinates for Point 0001. Point Number 0001 Coordinates RX 150mm, RY 300mm, Z 50mm Point Type Start of Line Dispense 3.3.2 Point Type 1) Input the position coordinates and press ENTER . The screen will display a list of point types (see right). 2) Select the point type (Line Dispense Start, here). Select Item Point Dispense Line Dispense Start Line Passing Arc Point End of Line Dispense PTP Evasion Point Point Type Screen, page 1 1/2 The arm cannot move in CP movement to a position where the angle made by the J1 and J2 arms is 5 degrees or less. You cannot change the arm shape between a Start of Line Dispense/CP Start point and an End of Line Dispense/CP End point. 3.3.3 Dispense ON/OFF Setting and Line Speed 1) If the point type is either Start of Line Dispense or Line Passing, you will be prompted to select the Dispense ON/OFF setting (see right). Select Item Dispense Dispense ON OFF Highlight Dispense ON and press ENTER to confirm. Dispense ON/OFF Selection Screen Quick Start 3-3 2) After selecting the Dispenser ON/OFF setting, you will be prompted to enter the Line Speed (CP Speed). Here, we will enter 40 mm/s as the Line Speed. Press CLEAR , then 4 , 0 . Enter a number. Line Speed 1 0 mm/s Press ENTER to confirm. Line Speed (CP Speed) Entry Screen ✦ If the point type is Start of Line Dispense or Line Passing, you will be prompted to select the Dispense ON/OFF setting, then enter the Line Speed (CP Speed) after confirming the position coordinates. When you have confirmed the Line Speed, the screen will be ready for entering the next point. (The Point Number will be [the current Point Number + 1] .) 3) After the Line Speed (CP Speed) is confirmed, the New Point Entry Screen for the next point will appear. (The Point Number will be [the current Point Number + 1] .) Teach Points 0002 to 0005 according to the settings below. Refer to “2.2.3 Point Position Setting” on p. 2-5. Point Number Coordinates 0002 RX –100 mm, RY 300 mm, 0003 RX –150 mm, RY 250 mm, 0004 RX –100 mm, RY 200 mm, 0005 RX 150 mm, RY 200 mm, Z 50 mm Z 50 mm Z 50 mm Z 50 mm Point Type Line Passing Arc Point Line Passing End of Line Dispense Dispenser ON/OFF Line Speed ON 40 --- 40 ON 40 --- --- ✦ The dispenser is automatically turned off at an End of Line Dispense point. Quick Start 3-4 3.4 Program Test, Running When you finish teaching all the points, you are ready to check, and then test the program. Please refer to “2.3 Program Test” on p.2-9 to carry out data check and test run. After the program test, you can actually run the Scara Robot. Please refer to “2.4 Running” on p.2-11. Warning Quick Start Do not enter the work range of the robot during operation. 3-5 4. SAVING DATA The following will explain how to save programs and point job data in a memory card. 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 (requires no battery). You should save to the memory card not only programs and point job data but all the taught data in the robot, including system data. 1) Press SHIFT  ESC to display the Point Setting Screen (see right). Then press SAVE . No. 1 0001 LX+70 LY+300 Z+50 R+0 Type Start of Line Dispense Dispense ON Line Speed 20 mm/s Example of Point Setting Screen (Base Condition) 2) You will be prompted to confirm (see right). All Teaching Data Save OK? Select “YES.” YES NO ✦ 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. Quick Start 4-1 5. TROUBLESHOOTING 5.1 Self Diagnosis Function If an error occurs during running or teaching, the robot will display the error number on the program number display of the operation box and an error message on the screen of the teaching pendant. When the robot recognizes an error during running, it stops immediately. Follow the error message to deal with the trouble. If the teaching pendant is not connected to the robot, turn off the power and connect it. When the power is turned on, the screen of the teaching pendant displays the error message. ✦ For the description of the errors and remedies, please refer to “Error Messages” on p. 9-1 of the Specifications section. 5.2 Diagnosis Mode If you suspect a malfunction in the robot, use the diagnosis function to check the operation of each part. The following items are checked in Diagnosis mode. 1. Teaching pendant 2. Operation box 3. Buzzers 4. DIP switch conditions 5. Initialization sensor condition 6. Motor driving 7. Initialization sensor position 8. I/O operation (internal power supply)) 9. I/O operation (external power supply) 10. I/O-S 11. COM1 (RS232C) communication 12. COM 2 (RS232C) communication 13. Demonstration running ✦ For detailed information on the diagnosis functions, please refer to “Understanding Problems” on p. C-11 of the Functions section.  Quick Start 5-1 6. MAINTENANCE Greasing For smooth operation and long-term use of the robot, apply grease to the machine regularly (approximately every six months). LM ( Liner Motion) guide (Z) Ball thread (1) Remove the seven screws on the right cover and remove it. (2) Apply grease to the grease nipple of the ball thread. (3) Apply grease to the two grease nipples of the LM (Linear Motion) guide (Z) on the down part. If no grease gun is available, apply grease to the thread of the ball thread and the both sides of the LM guide rail. (4) Replace the right cover on the body. Quick Start 6-1 Be sure to use the grease recommended by the manufacturer. Otherwise malfunction may ensue. Recommended grease: AFC Grease by THK Company Ltd. Quick Start 6-2 P/N 987506