GantryProductOperationManual (10.118.48.x) NewUI

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Gantry Product Operation

Manual(10.118.48.x)_NewUI

匯出日期:2023-04-13
修改日期:2023-04-13
联达产品/LEANTEC Products

Gantry Product Operation Manual(10.118.48.x)_NewUI

1 INTRODUCTION
The target readers of this document are for the end users and the employee who using the Syntec Gantry Pick and
Place system. In order to let end users and the colleagues to understand and grasps the operation method of this
system by education training through the document. The content includes the overview of the Syntec Gantry Pick
and Place system, function modules and settings, setting and operation of reference points, setting and operation
of pallet, the editing of pick and place program, abnormality exclusion and the introduction of menu. It is expected
that the readers can have sufficient understanding on the Syntec Gantry Pick and Place system by reading this
document. If more detailed information is required, contact with the Syntec head office.

INTRODUCTION – 2
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2 1. Overview of Gantry Pick and Place System


This operation manual will introduce the human machine operation method of the Syntec Gantry Pick and
Place System. All types of gantry robot arm are applicable. However, on the screen display, because the
number of axes and the names of the axes corresponding to each type of arm are not the same, this manual
does not list them one by one. This manual uses the 2+1 type arm as an example. Among them, the 2+1 type
gantry robot arm refers to a gantry manipulator with two axial servos and one pallet servo.

2.1 1.1 Introduction of Teach Pendant


The appearance of the 81RG-P teach pendant is as follows. The user can use the teach pendant to
operate the gantry robot arm. The following sections describe the functions of different buttons.

2.1.1 1.1.1 Emergency Stop Button


In the emergency event such as an arm hitting the machine or arm not behaving as expected, etc.,
the emergency stop button can be pressed immediately to prevent an accident happening.

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2.1.2 1.1.2 Enabling Device


The main purpose of the enable device is to ensure that the arm activation process or robot axis
movement is executed by operator, instead of an accidental touch of the button that would cause
the arm to move. There are a total of two-stage pressing. The activation and axis movement need
to cooperate with the first stage of pressing. The second stage of pressing is to prevent the user
from accidentally touching the enabling device.

2.1.3 1.1.3 Physical Function button


Users can use the physical function buttons to operate the arm or edit commands, which can be
divided into three main areas according to function: function buttons, axis movement buttons and
extension buttons. The following sections introduce the functions of each button according to the
push-button version and MPG version.

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1.1.3.1 81RG-P Version

1. AUTO:Auto mode
2. TEACH :Manual mode
3. REMOTE:No mapping mode, remain in manual mode

Function Keys
i. [RESET]: Reset the system to its initial state.
ii. [START]: Press the button with enabling device, the arm can run the edited program.
iii. [HOLD]: If you press the button, the current program will be paused until the [START] button
been pressed again.
iv. [SERVO READY]: Press the button to enter the ready state.
Notice: When the emergency stop had been pressed, the ready state cannot be entered. If
this is the case, the emergency stop must be released firs.
v. [MPG]: Mode switch button. By spinning the MPG, the robot arm can be moved; the scale of
the MPG and the amount of robot arm movement can be adjusted by the [OVRD] button.
vi. [JOG]: Mode switch button. Press to switch to JOG mode, and the indicator light at the upper
left of the button will light up.
vii. [INJOG]: Mode switch button. Press to switch to INJOG mode, and the indicator at the upper
left of the button will light up
viii. [ORIGIN]: Triggers the back to home window and moves to the mechanical home in the
default motion sequence.
ix. [Simulation Run]: Run the program at a slower speed to test the correctness of the point or
the movement path. It must be executed with the forward and reverse test run buttons or by
turning the MPG. After pressing, the upper left indicator light turns on means the simulated
function starts, and when the light turns dark means it is OFF.

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x. [single step]: When this function is on, the program will enter a block stop after completing
the current command, and the user needs to re-press the start button to start executing the
next command. When the indicator light on the upper left after pressing the button, the
program will start the block function; when it has been turned off, it becomes dark.
xi. [Override (OVRD) Increase (+)/Decrease(-)]: The override of JOG/INJOG/MPG/AUTO mode
can be switched. The current override value will be displayed on the main screen.
xii. [Simulation(SIMU) Forward(+)/Backward(-)]: When the hand simulation is started, press
the [SIMU +] button, and the arm will run according to the edited program until the [SIMU +]
button is released. If you press [SIMU -] button, the program will run back until it reaches the
teaching point of the previous step.
xiii. [ROBOT SWITCH]: The currently controlling arm could be switched when the robot has two
arms.
xiv. [HELP]: Call the Online Help window to provide user-related information.
xv. [Common output keys]: The common output point O (raw jaws, finished jaws, rotating jaws,
sunroof) can be ON/OFF by triggered the button. The buttons in this area could be changed by
editing PLC.
xvi. [ENTER]: Same as the keyboard enter key.
xvii. [BACK]: Same as the keyboard ESC key.
xviii. [Direction keys]: Same as the up/down/left/right keys on the keyboard.
Axis Movement Keys
i. [Axis Movement]: In JOG mode or INJOG mode, press this button to operate the movement
of the robot arm. Note that the button in this area must be used in conjunction with the
enabling device to prevent misoperation.
Extension Keys
i. [Extension Keys](AUX): If the user has special function request, can edit the PLC and use the
buttons in this area.

2.2 1.2 Introduction of Main Screen


As shown in the figure below, after the Syntec Gantry Pick and Place system is turned on, the human
machine main screen can be displayed on the teach pendant . The functions and corresponding
operations of each component will be described one by one below.

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• The screen is divided into three parts: status bar (icons 1~8), page content (icons 9 and 10), and
fenubar(icon 11).
a. Status bar : Displays the status and the entrance of each main page
b. Page Content : Display the function content of the switching page. The home page (as
shown above) will be initially displayed when it is on.
c. fenubar : Common functions of current page
• Icon Introduction
a. System Time and Inputline : To display current time of the system and inputline that can
show typing.
b. Login Permission : To display the current login permission. To change the login
permission, click on it and the login authority menu will pop up, and the login permission
can be adjusted.
c. System Status : To show that the system is currently ready, not ready, running or paused.
d. Override : Display the corresponding overridr according to the current system mode.
e. System Mode : To display whether the system is currently executing automatically, JOG,
INJOG, MPG or Zero Setting. Please refer to Gantry Product Operation
Manual(10.118.x)#Introduction of System Modes.
f. Alarm Alert : To display whether the system currently having alarm and can click to switch
to alarm page.
g. Main Page Switching Area : To perform page switching between [Main], [Point-Teaching],
[program editing] and [Pallet]
h. Function Panel : Mainly used to perform system mode switching, override modification,
axis selection/movement and program start/stop/reset, etc. For description of Function
Panel, please refer to Gantry Product Operation Manual(10.118.x)#Introduction of
Function Panel.#
i. Main page : For displaying logo, current coordinates, robot arm messages and robot arm
production/motor information.
j. Field switching tab : Switching of robot arm production/motor information fields.

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k. Fenubar : Common function window entrance location.

2.3 1.3 Introduction of System Modes


The system modes include JOG mode (continuous jog), INJOG (increment jog), MPG mode, and auto
mode. Homing setting is used to set the origin of each axis; JOG mode, INJOG mode, and MPG mode are
manual modes; in these three modes, the axis of the robot arm can be manually moved to perform
various settings operation, including Refpoints teaching, Program editing, pallet setting, and etc.; the
robotic arm can only start the pick and place program when the system is in the automatic execution
mode.

2.3.1 1.3.1 JOG Mode


JOG mode is one of the manual operation mode. Press the [JOG] button on the teach pendant and
the button indicator will light up, indicating that it has switched to the JOG mode. You can also
check whether the system mode displays the JOG on the main screen. On the teach pendant, select
the +/- direction buttons of each axis to perform manual movement. When the button is pressed
and not released, the axis will move until the button is released. The movement mode can be linear
movement or rotation, and the movement speed can also be set using the button on the teach
pendant. The above operation can also be done in the [Function Panel].

2.3.2 1.3.2 INJOG Mode


INJOG mode is one of the manual operation mode. Under INJOG mode, the axis moves in
increments after the axis movement key is pressed. Even if the button is not released after the
press, the system will still only send a fixed number of pulses, so that the axial movement will
always be a fixed distance. If you want to move the axis again, you need to press the button again.
This mode will often be used to accurately teach the workpiece position.

2.3.3 1.3.3 MPG Mode


The MPG mode is one of manual operation mode. To use this mode, you need a plug-in MPG or a
teach pendant. You can select the MPG mode in the [Function Panel] on the main screen and select
the axis and override rate to be control, then you can turn the MPG to move the selected axis. This
mode is commonly used to teach the workpiece position.

2.3.4 1.3.4 Auto Mode


Auto mode is used to automatically execute the edited pick and place program. Select [Auto] mode
on the button of the teach pendant, then simultaneously press the Enabling Device on the back of
the box and the [Start] button to execute the taught pick and place program automatically. During
execution, you can pause the program with [Pause] button, or use [Reset] button to perform the
reset action.

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2.4 1.4 Introduction of Function Panel


[Function Panel] is mainly used to switch the system mode, modify the override, select/move the axial
and start/reset the program actions. The functions and corresponding operations of each component
will be described below.

1. [MPG / INJOG Override]: To set the motion override rate from 1µm, 10µm, 100µm to the highest
1000µm in the MPG or INJOG mode.
2. [Manual /Auto Override]: In the "JOG mode" and "automatic mode", after specifying the motion
parameters and speed commands, the arm running speed will be adjusted according to the
"override" setting.
3. [Reset]: Restore the system to its initial state.
4. [Mode Selection]: To perform the modes switching between Zero Setting, JOG, INJOG,
automatic and MPG, as well as perform the back to home operation. If pr961=4 or 5, the absolute
origin will appear, which is used for homing to absolute origin.
5. [Debug]: Click to turn on/off. After it is turned on in automatic mode, the program editing will
enter the sub-program display during processing. It is orange when turned on.
6. [Hand simulation]: Click to turn on/off. After it is turned on in the automatic mode, the program
will be executed at a slower speed to test the correctness of the point position or the moving
path. Use the MPG/simulation MPG to execute the pick and place program. It is orange when
turned on.
7. [Axial Selection]: To select the direction of axial movement in the JOG/INJOG mode. Note that
the button in this area must be used in conjunction with the enabling device to prevent
misoperation.
8. [Close ]: To close the Function Panel popup.
9. [Start]: To start the pick and place program in automatic mode.
10. [Pause]: To pause the pick and place program in automatic mode.

2.4.1 1.4.1 Debug


As shown in the figure, in the Function Panel, the debug function will be ON by clicking the "Debug"
button. When the button is orange, the robot arm is in debug mode. Click it again to close the
function.

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The debug mode is only supported to be turned on/off before starting machining.
As shown in figure, if the cyc. subprogram is running under debug mode, the program steps table
will be refreshed and contents in table will be switched to subprogram contents, and the cursor will
move with the current executing step of the subprogram.

As shown in figure, if the MACRO subprogram is running under debug mode, a window showing the
MACRO content will pop up, and the cursor will move with the current executing step number of the
MACRO.

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2.4.2 1.4.2 Example of Panel Operation


This section mainly describes common operations performed through the function panel.
• Several ways to perform axial movement in manual mode:
Method 1: First, enter [Main] → [Function Panel] to switch to JOG/INJOG mode, then select
the axis you want to move in [Function Panel], and then press [+]/[-] to carry out the
positive/ negative axial movement. (Must press the first-stage of the enabling device at the
same time)
Method 2: Switch to JOG/INJOG mode by pressing the button on the teach pendant, and
then use the +/- axial buttons on the teach pendant to carry out positive/ negative axial
movement. (Must press the first-stage of the enabling device at the same time)
Method 3: First, enter [Main] → [Function Panel] to switch to MPG mode. Then select the
axis you want to move in the [Function Panel] and use the forward/ reverse MPG to carry out
the positive/ negative axial movement. (Must press the first-stage of the enabling device at
the same time)

• The steps to carry out the setup of absolute axial origin:


STEP 1: Use manual mode (JOG, INJOG, MPG) to move each axis to the origin of the
coordinate system. This origin is defined by the user.
STEP 2: Select [Zero] mode on the Function Panel, enter the password and enter the Zero
Settings screen.
STEP 3: You can press each axis button respectively. After pressing, the current position of
this axis will be set as the origin of the coordinate system. One can also select [Set Zero for
all Axes] to set the origin of all axis at one time.

Note: After each axial origin setting is performed, it is necessary to reset the
position limit of each axis, the reference point of the arm motion and the workpiece
position in the pallet.

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• To start/ pause/ reset of the pick and place program, and the use of MPG simulation.
STEP 1: First enter [Main] → [Function Panel] to switch the system to automatic mode and
ensure that the system is in a ready state.
STEP 2: Determine whether the system requires MPG simulation to carry out the program. If
yes, enter [Main] → [Function Panel], click simulation button on the Function Panel.
STEP 3: After pressing the Enabling Device on the back of the box, click the [Start] button to
execute the program. At this point, the system is in Busy state.
STEP 4: After pressing the [Pause] button, the system stops moving and is in a pause state.
After confirming that execution can be resumed, repeat step 3 to continue with the program.
STEP 5: If the system is in an alarm state or cannot continue to execute the program, the
system can be initialized by the [Reset] button.

Remarks:
a. If the process is in the simulation state, the robot will remain still after the program
started. At this time, the MPG must be rotated or the [Forward Test Run] button must
be pressed to move the robot; if the MPG is reversed or the [Reverse Test Run] button
is pressed, the robot will move back to the point taught in the previous step.
b. Some alarm conditions cannot be initialized by the [Reset] button. At this time, reset
can only be performed by power-off restart.

2.5 1.5 System Authority


In order to prevent program loss, parameter changes and other security factors, different operating
privileges are provided for different users. The levels of authority are as follows:

O:Modifiable ▽:Viewable

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Mode Execute Edit Training Maker


(Advanced (SI factory, (OEM)
(Operator)
operator) Machinery
factory)

Main Screen O O O O

I/O Monitor O O O O

Alarm O O O O

Peripheral O O O O
Control

Diagnosis O O O O

Reference Point ▽ O O O

pallet Setting ▽(Workpiece O O O


label can be
modified)

Program ▽ ▽ O O
Teaching

Safety Area O O

Maintenance O O

Parameter O

Software Install O

After the system is booted normally, click on the avatar on the lower left corner to call out the permission
login window. S elect the permissions you want to log in, and enter the password to successfully switch
permissions.

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2.6 1.6 Controller Keyboard

2.6.1 1.6.1 SIP Keyboard


When an input box that needs text input is selected, a blue keyboard that supports both English and Simplified
Chinese will show up on the controller.
User should set P3209 to 119 and check that image file version is 7.69.3 (If the image file version is not
7.69.3, please contact OEM) for correct display and operation under the OS in Simplified Chinese.

1. "Hide Button": Button that can hide the keyboard.


2. "Language Button": Button that can switch the input text between English and Simplified Chinese.
Note :
• Simple procedure for Simplified Chinese typing

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• Input the chracters of the word

• Use"Left/Right Button" to switch from different inputted words

• Use"Up/Down Button" to switch from different words with the same pronunciation

• Press Blank to select the word to use


• Press Enter or Blank again to set the word to input box on the status panel for further
confirmation later

2.6.2 1.6.2 Increment Input Keyboard


Controller supports an increment input keyboard that can do simple math addition and subtraction for
inputboxes that need to modify value. All inputs for coordinate value settings are supporting the keyboard so
far except for parameter page.

1. "INCRE": Users can switch the keyboard to increment input mode with this button
2. "Original Value Label": The label shows the original values of inputs followed by "+" sign, which provides
users for confirmation when doing calculation
3. "Increment Value Input": What users input by the increment input keyboard will be shown here
Instruction for operation
• The "Original Value Label" will show 0 when original value of the inputbox are empty
• Input value into "Increment Value Input" and press "ENTER" to complete the calculation and set the
result back to inputs
• If input value only contains signs or other invalid value(e.g. : 0.0.6), it won't add or subtract value
when doing calculation

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• If the keyboard shows up again after being closed, increment input mode will be set to off as default
• If the keyboard is showing up, the content of the keyboard won't be changed by any selection of
other inputs

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3 2. Function Modules and Settings


After booting on, it is able to switch to different pages by the page switch button on home page. According to
different functional modules, it is mainly divided into home page, peripheral control, IO monitor, Settings, and
file manager.

3.1 2.1 Main Menu


[Main Menu] is the page that is displayed when the machine is turned on, providing important
information about the current operation of the gantry robot. The displayed information will be described
one by one below.

1. Arm Coordinates : To display the current robot's coordinate position, this 2 + 1 type gantry pick
and place system includes the robot's two axes (X, Z) and pallet axis (Y1).
2. Remaining Coordinates : To display the remaining distance before the arm reaches the
command coordinates.
3. Current Program : To display the name, type of command and speed of current program. (In
multi-system, display main program not current execute program.)
4. Robot Arm Production / Motor Information :
a. Production
i. Current Speed : To display the current movement speed of the robot arm during
operation.
ii. Target / Current Cycle : Used for workpiece count. The current number of
workpieces will continue to accumulate throughout the execution of cycled
program until it equals to the number of target workpieces, then the robot will stop
running. Reset the count can be achieved by pressing Clear button .
iii. Single Cycle Time : To display the time required for the program to executes a
complete cycle.

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b. Motor

i. Classified as motor position/speed information.


ii. Information can be switched from the right arrow button.

3.2 2.2 Peripheral Control


[Peripheral Control] Used to execute programmed input/output terminal actions. Such as: unclamping /
clamping the picking gripper, unclamping / clamping the releasing gripper and other peripheral actions.
The system screen is as shown in the figure.
This screen is divided into two types of operations:
1. PLC M code:
The action to be performed is written in the PLC. The terminal action can be changed by changing
the M code in the PLC.
2. (Peripheral) subprogram:
Press to execute a subprogram. The subprogram can be called and edited on the program editing
page, and the control of the input and output terminals can be written in the subprogram. For
further information please refer to Gantry Product Operation Manual(10.118.x)#Input, Output
Commands.

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3.2.1 2.2.1 Edit Display Name


There are two methods for edit display name:
1. Edit Name : When the permission is training mode or maker, it is able to open the name
edited window by clicking the [Edit Name] button on the upper right of the peripheral
control page. As shown in the figure, the following will introduce the information of each
block.

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a. The tab can switch the name edited setting of PLC M code or the subprogram.
b. [Number] : It is used to input the PLC M code or subprogram number to be edited.
c. [Current Name] : Display the name currently recorded by the controller for the
entered number.
d. [New Name] : It is the name about to edit to.
i. After changing the name online, all the updated display names in other pages
will be "valid only after rebooting".
ii. If the name has been edited online, no matter which standard language is
switched to (currently supports Traditional Chinese, Simplified Chinese,
English), the edit name will be displayed.
e. [Close] : When the editing has been completed or is not wanted to be saved, the close
in the upper right corner can be clicked to leave this function window.
f. [Restore Original Settings] : This function will remove all online edited strings
corresponding to the current tab and restore them to the original settings or custom
imported strings.
i. No customized strings : display the original string.
Situation : Use the original setting string. The original string will be displayed
no matter how many times you use online editing after using this function.
ii. Customized strings: display customized strings
Situation: Import customized strings, after using this function. The imported
custom strings will be displayed no matter how many times you use online
editing.
g. [Save & Continue] : Save the content entered on the current screen and clear the
number, current name, and name editing fields for users to continue to edit.

2. Customized display name : The user can customize the corresponding action name and
change it to a name that is convenient for the user to operate. The following describes the
customization steps.

a. On the file explore page, click [Import/Export Custom], and select [Export] to export
the file to the USB drive.

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b. The exported file contains three languages, the file name is


CustomizedString_Languages.xml (Language: Traditional Chinese CHT, Simplified
Chinese CHS, and English COM, other language refer to How To Create A New
Language In Controller.). Edit the content of the string files in different languages
through a text editor according to the needs.
c. The content of the string file is as follows. By editing the Content string, the display
name in the corresponding number can be edited. Please do not edit anything about
the format.
<?xml version="1.0" encoding="UTF-8"?>
<ResMap>
<Message ID="MMI::PC1" Content="Gripper open" />
<Message ID="MMI::PC2" Content="Gripper close" />
<Message ID="MMI::PC3" Content="Air blow" />
...
...
</ResMap>
d. After editing, the string file is also imported to the controller through the file
manager page.

Currently, it is provided to restore single or multiple original settings of multi-language strings.


This function "needs to reboot to take effect." "Original settings" means to restore to the display
string before using the online editing function.
• Restore single original settings : Enter a blank in the name editing field, and click [Save and
Continue] to restore the name corresponding to the entered number.
• Restore multiple original settings : Through the [Restore original settings] settings" button
function, all current reproduced editing strings will be removed.

3.2.2 2.2.2 Operation Example


Step 1: Click the category tab to be edited : subprogram.
Step 2: If the name of peripheral program 2 is about to edit, enter 2 in the number field, and the
display name will be the current name of peripheral subprogram 2 of the controller.

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Step 3: Enter the editing name "Sub2"

Step 4: Click [Save and Continue]

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Step 5: After closing Edit Name window, modified results can be viewed on peripheral control page.

Step 6: After rebooting, all pages that originally displayed "Subprogram 2" will display their name
as "Sub2" in the controller .

3.3 2.3 Settings


This chapter will mainly introduce the content of the settings. The buttons on the page of settings can
enter different setting pages, which are mainly divided into three sections: general settings, parameter
settings and system settings.

3.3.1 2.3.1 General Settings


General settings included operation monitoring, safety zone setting and external equipment, etc.

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2.3.1.1 Operation Monitor


[Operation Monitor] can shows information such as the name of current program, target cycle
frequency, current cycle frequency, single cycle time, date and time started, accumulated
cycle frequency, cycle time, and etc.
It is mainly used to record the operation data during execution of material pick and place
program at machine by robotic arm. Mainly included program name, date and time started,
accumulated cycle time and frequency.
Under the operation monitor menu, click [F1 Work Record] to enter [F1 Save Work Record]
and [F2 Clear Work Record]. [F1 Save Work Record] can export the robot arm operation data in
the controller to U-disk whereas [F2 Clear Work Record] can clear the current operation
history and data.

2.3.1.2 Safe Zone


Safe Zone is used to set the safety limit operation area of robotic arm around the machines to
avoid collision with machines which cause hazard. By referring to the different in relative
position between machine, pallet, and the safety of other parts, Syntec system provides a
variety of mode settings, users can define the location and number of safe zones by
themselves. The page is shown below.

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1. Machine safe area : Click to turn on/off the machine safe area setting.
2. Station safe area : Click to turn on/off the station safe area setting.
3. Cube safe area : Click to turn on/off the cube safe area setting.
4. Set safe zone : Before enabling the safe zone, the points of safe zone need to be set
first. The following describes the setting methods.
5. Safe zone fenubar : Click to turn on all the safe area.

2.3.1.2.1 Settings Of The Safe Zone


Take a 3-axis gantry robot (model 3+0) as an example to illustrate the safe zone settings.
Click the setting button at the bottom of the safe zone setting page to enter the point
setting page. The following will introduce the setting methods of machine, safe stations,
and custom safe areas.
• Set machine safe area:
STEP 1 : Enter the page [Set Machine safe area]. As shown in the figure, system
uses A, B, C, D, E, F , G lines to separate the zone into "accessible" and
"inaccessible" two main areas, where the blue color zone is "inaccessible".

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STEP 2 : Move the robot to E line on the top of machine, then click [E line] button
to fill the current Z coordinate into the column and straight become effective. If
value fine tune is required, can click the input column of corresponding
coordinate to fine tune the value, special attention is required when changing is
done here.
STEP 3 : In the Ready or Not Ready mode. Click [Setting Y Line] button to set the
safe position in the Y direction. And click [Back Safe Area Setting] w hen it is
needed to return.

STEP 4 : Repeat steps 2 and 3, after the JOG the robotic arm position to other
lines, performed point setting, and change for a safe one. Besides that, A-G line
setting do not require to follow any sequence order and can be done in random
order.
Step 5: After finishing setting the point, click [Open safe area] to open and close
this safe zone.

• Set station safe area:


The pages of the safe station and the machine safe area are similar. For the
setting method, please refer to "Set Machine Safe Area".

• Set cube safe area:


The custom safe area mainly provides the user with safety protection for the
machine and other cube areas outside the pallet (such as inspection table,
overturn cylinder, transfer table, etc.). As shown in the figure, the system has
planned a cube to cut the space into two major areas, "accessible" and
"inaccessible" for the robot. The white cube area is "inaccessible".

The setting method is as follows:


Axis number : The user enters the axis of the safe area to be set. The axis should
be filled with 1, 2, 3.... If it filled with 1000, 1001, 1002..., this will not take effect.
Positive and negative limit : Directly write the positive and negative range of the
axis.
After filling in, the white cube area becomes a "inaccessible" custom safe area.

Note: The zero point needs to be reset to take effect each time restart the
SYNTEC simulator, otherwise, it will not take effect.

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2.3.1.2.2 Elimination Method for Triggered Alarms


The system will trigger an alarm, when the robot is moving and enters the safe area, as
shown in the figure.

To clear the alarm, click the "X" button in the upper right corner or the return button in
the lower left corner of the alarm window to close it. Then, after manually moving the
corresponding axis away from the safe area, click the "Reset" button on the teach
pendant or the Function Panel.
If the axis cannot be moved manually at this time, the safe zone function needs to be
closed first, and after moving it out from the safe zone, the corresponding safe zone
must be reopened to ensure the normal operation of the robot.

2.3.1.2.3 Safe Area Analysis


The safe area can be understood as a number of cubes that represent inaccessible areas.
When the robot enters the defined cube area, an alarm will be triggered, and the user
can determine which group of safety zones corresponds to the blocks triggered in the
order of the alarms.
• Machine safe area:
Each safe area of the machine uses 5 sets of boxes.Machine 1 corresponds to
boxes 1 to 5, machine 2 corresponds to boxes 6 to 10, machine 3 corresponds to
boxes 11 to 15 and machine 4 corresponds to boxes 16 to 20. The 1st three groups
of boxes are divided according to the front view, and boxes 4 and 5 are divided
according to the top view, as shown in the figure of machine 1.

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• Front view

• Top view

• Station safe area:


Station safe area uses 3 sets of boxes. Station 1 corresponds to boxes 33 to 35,
station 2 corresponds to boxes 36 to 38, station 3 corresponds to boxes 39 to 41,
station 4 corresponds to boxes 42 to 44 and station 5 corresponds to boxes 45 to
47. Take station 1 as an example.

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• Cube safe area:


The cube safe zone is defined by the above-mentioned cubes, corresponding to
cubes 51-62.

2.3.1.2.4 Multi-Gantry Safe Gap


When using the Multi-gantry type. In order to avoid the collision of the two arms on the
same rail, the Safe Gap protection can be used.
If the distance between two arms is smaller than protection setting value, the hardware
limit alarm would be triggered.
• Safe gap protection entrance:
Entrance is at F5 when using Multi-gantry type.

• Safe gap protection setting screen :


i. First, use the button to select the coordinate directions of the arms
separately.
ii. Gog the arms to teach the same point, in order to get the relationship of
two arms' coordinate(can use the button to teach or input the value in
textbox)
iii. Enter the protected gap value.

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iv. Press the "Open safe gap protect" button to enable the protection
function

2.3.1.3 Coordinate system


The coordinate system of the robot is divided into robot coordinates, user coordinates,
and pallet coordinates. The conversion of each coordinate system is provided that the
specific position can be reached freely and quickly and complete the program.
Click [Home]-[Setttings]-[Coordinate System] through the teach pendant to enter the
coordinate system, as shown in the figure below (the example in the figure uses the 3+0
configuration of the robot coordinate system as an example), it is the user coordinate
teaching page, there are three sets of user coordinate systems for setting. The pallet
coordinate system is introduced in chapter 4.2.

1. Coordinate System : Click to select which coordinate system will be used as the basis
to create the current user coordinate system. The options are "Robot Coordinates",
"User Coordinates" and "Pallet Coordinates", as shown in the figure below
a. Robot Coordinates : The coordinate system set by the direction of the robot
arm mechanism

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b. User Coordinates : A coordinate system defined and created by the user. only
available in robot one
2. User Coordinate System : Choose which set of user coordinate system to create, there
are three sets to choose from
3. Coordinate system teaching method : Step-guided teaching is adopted. When the
point to be taught is clicked, the icon will automatically change to a schematic
diagram of this point, so that the user can know the meaning and teaching method of
the current point and the following with text description.

2.3.1.4 APP
App developed for different application areas.

2.3.1.4.1 Pick and Place


Pick and Place function: Synchronize CNC and Robot
Please refer to the Synchronize CNC and Robot Application Manual for the complete
setup and operation.

3.3.2 2.3.2 Parameter Setting


Parameter zone included speed parameter, basic parameter, and system parameter.

2.3.2.1 Speed Parameters


[Speed Parameter] is mainly used to set the acceleration/ deceleration time and maximum
feedrate for axial movement, maximum feedrate or the acceleration/deceleration time of the
arc/pallet command, the maximum feedrate. In addition, the maximum feed rate in JOG
mode and the maximum feed rate in MPG mode can be set. Unit for acceleration/ deceleration
time is in ms, while for feedrate is in mm/min or r/min.

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2.3.2.2 Basic Parameters


[Basic parameters] is mainly used to set the corresponding port number for each axis, axial
movement direction, motor encoder resolution, axial screw/motor gear ratio, axial ball screw
pitch value and axes name. Among them, * indicates that the modified parameter required
powered off and restarted to take effect.

2.3.2.3 Gantry Parameter


[Gantry parameters] is mainly used to set the robot model, amount of robot arm and position
limit, etc. The unpredictable error will happen if the parameter is set incorrectly. Among them,
* indicates that the modified parameter required powered off and restarted to take effect.
Pr3201 Robot mechanical type is limited to 251(Gantry).
1. Using single robot,Pr4100 set 1,Pr731 set 1,P732 set 0
2. Using multi robot,Pr4100 set 2,Pr731 set 2,P732 set 2. Check that any of Pr701~ is set to
2.

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Pr4100, Pr731 and Pr732 will be modified to 2 when OP-38 (Multi Gantry Robot) is on or
Pr4100 (multi Robot) is set to 2 on this page.

Models supported by the gantry product version:

Beginning Version 2+0 2+1 2+2 3+0 3+1 4+0 4+1 5+0 Dual
Chann
el

10.118.14/10.118.1
2B

10.118.6

Before 10.118.6

The display method of Syntec system model is (arm axis + pallet axis) Ex: The 4 + 1 model is
a four-axis arm axis with a one-axis pallet axis.

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If the axis combination (arm axis + pallet axis) is set incorrectly, the system will enter the
protection window when restarting.

2.3.2.4 System Parameters


The page of [System Parameter] can be switched from the right tab to different types of tabs
to set the parameters. Click the [Parameter Number] button at the bottom right to quickly
search for the parameter number items for setting. The following describes the setting
content of each tab.

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1. All Param : This page shows all the controller parameters.


2. Axis Param : This page shows the axis related controller parameters, such as Axis Port
No., Axis Name etc.
3. Axial Motion Param : This page shows axial motion plan related controller parameters
4. Comp Param : This page shows the compensation related controller parameters, such
as Pitch Compensation, Backlash Compensation, and Quad-Peak (Reversal Spike)
Compensation.
5. ParamNo : It can input parameter number that is wanted to check, and it is allowed to
jump to this page.
6. GantryParam : Parameters table of robot parameters.
7. Serial Tunning : Show normal Serial Axis and Serial PLC Axis Setting Option.
8. SRI Param Setting : Provides SRI parameter setting, firmware updates, diagnostics,
backup and restore functions.
9. I/O Mapping Table : IO parameters setting.
10. Adjust Tuning App : Setting page of syntec servo tuning.

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11. Serial PLC Axis Param : Through the serial PLC axis parameter page setting and
diagnosis screen, the parameter setting and monitoring status can be
executed.(Current serial plc axis doesn't support mastering, speed control or hand
wheel mode).
12. SetPoint Axis : Similar to case of Serial PLC Axis application, multi-axis application of
PTP(point to point) positioning.(Setpoint axis' name can't be set as system axis' name,
or it will cause confusion or can't move axis problem).
13. Extended Param : This page shows the PLC driven register controller parameters.
14. Subscribe Channel : Setting page of subscribe channel, users are allowed to subscribe
different contents to monitor according to the parameter setup.
15. Gantry Calibration : Provide calibration function of Gantry.

2.3.2.4.1 I/O Comparison Table


The function of the I/O comparison table allows users to map the hardware I/O points to
the corresponding software I/O points according to the needs. Click [System
Parameters] under [Parameter] → [Advance Param] → [F2 I/O Mapping Table] to go to
the setup page, as shown in the figure.

3.3.3 2.3.3 System Settings


The system settings zone includes diagnostics, maintenance, software installation, and password
registration.

2.3.3.1 Diagnostics
[Diagnose] is mainly used for the diagnosis of the system state by the machinery factory and
Syntec personnel. If necessary, please contact the relevant personnel. The information in this
area mainly includes system status data such as PLC status, system data, global variable
status, local variable status, operation record, and SRI status

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2.3.3.1.1 PLC Status


PLC-related status can be viewed, including PLC I, O, S, C, A points information, PLC
register, PLC counter, PLC timer, and ladder diagram. The ladder diagram page, which is
located under PLC status, allows the PLC to be modified directly on the controller. But
currently it can only be edited easily, eliminating the need to re-import.

2.3.3.1.2 System Information


The system information can be viewed. This page also provides the function of jumping
to the page of specified system data number.

2.3.3.1.3 Common Variables


The status of shared variables can be viewed. This page also provides the functions of
jumping to the page of specified common variable numbers, and clearing fields.

2.3.3.1.4 Program Variables


Program variables can be viewed. This page also provides the function of jumping to the
page of specifying program variable numbers.

2.3.3.1.5 Operation Record


The records of operation can be view.This page provides the following functions:
• Search date and time
• Search alert
• Search for I junction
• Export operation record

2.3.3.1.6 SRI Status


The SRI status and the status of each port can be viewed.

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2.3.3.2 Maintenance
[Maintenance] is mainly used for the diagnosis of the system status by the machinery factory
and Syntec personnel. If necessary, please contact the relevant personnel. The information in
this area mainly includes alarm display, network setting, rapid diagnosis, extended parameter
bits, system settings, data backup, about, and so on.

2.3.3.2.1 Alarm Display


To avoid danger in personal and machine safety cause by mis-operation, many
protections are set in the system or PLC. When these protection conditions are triggered,
the system will issue a warning or alarm to prompt the user. Click [F2 History Alarm]
to view the alarms that have been triggered in the past; click [F3 Save Alarm] to store the
currently triggered alarms; click [F4 HELP] to view the alarm cause and troubleshooting
methods.

2.3.3.2.2 Network Settings


Set network IP, connection information with server (back).

2.3.3.2.3 Rapid Diagnose


This page displays simple diagnostic information, including system information and
axial information.

2.3.3.2.4 Extended Parameter Bit


The Syntec controller provides a total of 20 sets of R81~R100 registers for the machine
factory. Each register has 16 Bits set function. The machine factory can use these 20 sets
of registers to provide users with self-manipulating for specific PLC functions, as shown
below.

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Operation instruction:
1. Use the tap to select the desired parameter address to be changed.
2. Use [PageUp]/ [PageDown] to switch between the upper and lower pages.
3. Only [0] or [1] can be entered.
4. Annotations can be made for each bit.

2.3.3.2.5 System Settings


This function page can be used to set the system environment, as shown in the figure
below.

2.3.3.3 Software Installation


[Software Installation] mainly includes software installation and image files installation.
Software installation is mainly used to upgrade software functions. Image files installation is
mainly used to upgrade hardware compatibility. Note that do not perform an image file
upgrade operation without the assistance of a Syntec personnel.

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Software installation process:


Step 1: Log in to the highest level of access, enter the [Settings] → [Install SW].
Step 2: Select the corresponding installation package and click OK.
Step 3: If it is the installation package of the correct model, it will directly pop up the prompts
to confirm whether to install or not.
Step 4: Restart the system after software package finished copy.

2.3.3.4 Set Password Number


[Set Password Number] is mainly used to set login passwords for different login authority.
Among them, the [Execute] mode is the default login status. The login passwords for [Edit]
mode, [Training] mode, and [Maker] mode can be modified under higher authority status.

Procedure for password change:


Step 1: Log in to the highest level of access and go to [Main] → [Settings] → [Set Password
Number].
Step 2: Click the input box under the different login authority to change the password.
Note: If the login password is forgotten, please contact staff of SYNTEC to check.

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3.4 2.4 IO Monitor


[IO Monitor] is mainly used to monitor the input and output status of each IO point in the system.
The IO monitoring page of system default to display input 0 ~ input 13, output 0 ~ output 13, a total of 14
IO points. As shown in the figure, the left side is the I-point monitoring. If the input state is off, the
corresponding box on the left is displayed in white; if the input state is on, the corresponding box on the
left is displayed in orange. The right side is the O-point monitoring. If the output state is off, the
corresponding box on the left is displayed in white; if the output state is on, the corresponding box on
the left is displayed in orange. There are page turning buttons at the bottom of both sides, which can
monitor the IO points that switch between different pages

Note:
1. In the [O Point Monitor] screen, press the button before the corresponding description to force
the output of the O point signal. After the output done, the corresponding button changes from
white to orange. Press again to turn off the output, and the corresponding button changes back
to white. Before executing, please pay attention to the position of the robot and the status of the
output cylinder to avoid accident.
2. For security reasons, the buttons of O point cannot be used during busy state, pause state, or
single step execute.
3. If the contacts output on the page conflict on the PLC, they will be overwritten by the PLC
commands.

3.4.1 2.4.1 Display Name Modification


To change the display name of the I/O contact, click the [Edit Name] button at the top right of the I/
O monitoring page to open the Online Name Edit window with the Training or Maker mode. The
window is shown in the figure, and information about each field is introduced below.

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1. The tabs can be switched between input and output to modify the name settings online.
2. No.:Enter the number of the input or output that is to be modified.
3. Displays the name recorded for the input number in the current state of the controller.
4. New Name:Modify the name of the online modification to be set.
a. After changing names online, all updated display names in other pages will be
"reboot required".
b. If an online modification has been made, the name of the online modification will be
displayed no matter which standard language it is switched to (currently supporting
Traditional Chinese, Simplified Chinese, and English).
5. Close: When finished making changes or when no changes are needed to be saved, click
the close button in the upper right corner to leave this function screen.
6. Restore Original Settings: This function removes all online change strings corresponding
to the current page tab and restores them to their original or custom import strings.
a. No customization String: Displays the original string.
Scenario: Using the original setting string, no matter how many times it is modified
online, the original setting string will be displayed after using this function.
b. With custom string: Displays the custom string.
Scenario: Importing a custom string will display the imported custom string after
using this function no matter how many times it is modified online.
7. Save & Continue:Save the content entered on the current screen and clear the Number,
Current Name, and New Name fields for users to modify continuously.

This feature "requires a reboot to take effect". "Original settings" means the display string is
restored to what it was before the online modification feature was used.
• Restore Single Original Settings: Type empty in the [Modify Name] field, and press [Save &
Continue] button to restore the name of the corresponding input number.
• Restore Multiple Original Settings: Using the [Restore Original Settings] button, which will
remove all currently modified strings.

3.4.2 2.4.2 Operation Example


STEP 1:Click on the tab of the category to be modified, ex. Output.

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STEP 2:If the name of Output 2 is to be modified, enter 2 in the number field, and the current
name will show the display name of the controller's current Output 2.

STEP 3:Enter the modified name"Op2".

STEP 4:Click Save & continue.

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STEP 5:After closing Edit Name window, modified results can be viewed on the page.

STEP 6:After rebooting, all the pages in the robot controller that used to display "Output2" will
display their display names as "Op2".

3.5 2.5 File Explorer


The file explorer is mainly to implement functions such as backup, restore, and import/export of system/
process data. As shown in the figure, the system data mainly includes backup, restore, import, export,
and macro management functions; the processing data mainly includes file management of the pick-
and-place program, reference point, and pallet data. The following will explain the contents of each
button.

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1. [Backup]: To execute the Syntec Backup (SB) and Maker Backup (MB). Among them, the Syntec
Backup contains system software and all system data.
2. [Restore]: To perform the restoration of SB and MB backup files.
3. [Import/ Export]: To import and export PLC files.
4. [Macro Management]: To import and export Macro data.
5. [Driver Management]: To perform the program updated of serial driver.
6. [Program]: To import and export the pick and place program.
7. [RefPoint]: To import and export reference point files.
8. [Pallet]: To import and export pallet files.
9. [All User Prog]: After clicking, choose the [Export All] or [Import All] button, which is used to
quickly backup and restore processing data such as pick and place programs, reference points,
pallets, and peripheral subprograms.
10. [Import/Export Custom String]: Select customized string files which filename must be
"CustomizedString_XXX.xml"(can choose more than one file). The system will import the Ocres
folder (CHS imports CHS\String, KOR imports KOR\String) according to the corresponding suffix.
After import selected customized string files successfully the system will hint correspond
messages and must restart system again.

3.5.1 2.5.1 All User Program


To import and export all user program in one click.

1. Export all : Create a folder with the serial number of the controller at the selected path,
and export the pick and place program, reference point files, pallet files and peripheral
control subprogram to the folder.

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a. The folder's folder structure shows below.

2. Import all : Import the selected folder's programs. The rules are shown below.
a. Master Folder : Please select the folder which contains all user program
subfolders.
For example, as shown above, the master folder M9A0001 should be selected
for import.
b. Folder Structure : The folder structure must be the same as the output folder
from using the "Export all" function.
The name of the subfolder must comply with corresponding name : Pallet,
PalletRobot2, PCSubProg, RefPoint, RefPointRobot2, RobotProgram and
RobotProgram2. If subfolder's name is Illegal, the files in the subfolder will not
be imported.
c. Others :
If the same file is present, a prompt will ask if all files need to be overwritten
or not. Click "Yes", all files will be overwrite. Click "No" to cancel the action.
The names of the subfolders will be prompted when imported successfully.
Only files with certain extension can be imported. (For example, the file
which extension isn't ".cyc" in folder RobotProgram can't be imported to the
controller.)
File Type Extension

Pick and Place Program, Peripheral Control .cyc


Subprogram, and Pallet Files

Reference Point Files .rt

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4 3. Setting and Operation of Reference Points


In the standard process flow of gantry pick and place, the robotic arm generally performs the pick and place
process between a plurality of fixed points. However, in a complicated teaching program, these points need to
be used repeatedly. Therefore, the Syntec gantry pick and place system calls these frequently used points as
reference points. The system provides reference points teaching, editing, and storage functions to simplify the
process of program teaching
This chapter mainly introduces the flow of reference point teaching, instructions of editing, file management
and automatic file selection functions.

4.1 3.1 Overview of Reference Points Teaching Function


To enter the reference points teaching screen as shown in the figure below. Using teach pendant, click

the [Main] → .

1. Reference Point Display Block : To display the reference point number, name and coordinates.
2. Reference Point Updates & Storage :
a. Updates : To update the reference point coordinates in the currently executing program,
the reference point must be named to use this function. (After modifying the coordinates
of the reference point, the "Reference Point Import" action must be performed to update
the point coordinates in the program. The updating is not case sensitive).
b. Storage : To save the current modified/edited reference point file.
3. Reference Point Editing Command Block : To place the functional components for reference
point teaching, editing and verification.
a. Set : In the auto/manual mode, the current coordinate point is taught to the selected
number of reference point in the reference point command block.
b. Insert : Insert a blank reference point above the selected reference point number.

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c.Delete : Delete the selected reference point.


d.Clear All : Deletes all reference points in the current reference point file.
e.Edit : Change/edit the selected reference point.
f.Name : Name the selected reference point. (Alphanumeric input only, Mandarin needs to
be edited via PC. The naming is not case sensitive, for example, "A" and "a" are treated as
the same name)
4. Reference Point Action Block :
a. Go to Point : In the Auto mode, move to the selected reference point with a slow/rapid
movement.
b. Go to Origin : In the Auto mode, move to the mechanical origin in the preset motion
sequence.

4.2 3.2 Reference Point File Management


The function of reference point file management is mainly used to store the reference point coordinate
data taught so that it can be used for different pick and place programs in order to satisfy multiple parts
and multiple processes, which help to simplify the teaching process.
Click [Main] → [Reference Point] → [Reference File Management] through the teach pendant to enter the
file management of the reference point, as shown in the figure below :

1. [New Reference File] : To open a new reference point file.


2. [Copy Reference File] : To copy the selected reference point data into a new named file
3. [Delete Reference File] : To delete the selected reference point file.
4. [Import Reference File] : To copy the reference point file from the network/U disk and other external
devices to the controller.
5. [Export Reference File] : To copy the reference point file from the controller to external devices such
as network/ U disk

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4.3 3.3 Automatic Reference Point File Selection


Click [Main] → [Reference Point] → [Auto Selection Configuration] on the teach pendant to enter the
interface of the automatic reference point file selection, as shown in the figure below :
When "Automatic Selection" is set to Enable, the value of R10600 needs to be changed by the
combination of PLC, MACRO, or pick and place program automatic to achieve automatic reference point
file selection.
To use the "Auto Import" function, turn on the "Enable Auto Import" button to automatically update the
reference point file when changing programs.

1. [Automatic reference point file selection] : The controller automatically selects the reference point
file of AUTOxx.rt after changing the value of register R10600 through PLC or MACRO.
For example, if R10600 is set to 1, the reference point file is automatically selected as AUTO1.rt; if
R10600=2, AUTO2.rt is selected; and so on.
2. [Automatic reference point file import] : Turn on the automatic import function (R10604=1), and the
program will automatically update the reference point file after changing the program.
Example, there are two programs that correspond to the following reference points: Currently, we are
using program A plus reference point AUTO1.rt. When we switch to program B, there is an auto-import
function, and the reference point file AUTO1.rt will be automatically updated to the new program B. No
need to manually update the reference point file again.

4.4 3.4 Example of Reference Point Setting


The following is a basic reference point setting and an example of how to update the point coordinates if
the reference point is already used in a pick-and-place program.

4.4.1 3.4.1 Example of Reference Point Teaching Setting


Example 1: Create a new reference point file named AUTO2, teach a point with coordinates X Z and
name it P1. At the same time, practice how to rename reference point as "P1".

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STEP 1: Create a new reference point file named.

Click [Main] → → [Reference File Management] → [New Reference File] through the
teach pendant. The following window pops up. Enter the reference point file name as AUTO2 and
click [OK].

After confirmation, a new reference point screen will pop up. The reference point file name is
AUTO2.

STEP 2: In this screen, under the manual (JOG/ INJOG) mode, move the (X,Z ) axis in teach
pendant. After clicking the [Set] button, the current arm coordinate can be set as the reference
point, as the shown in the figure below.

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STEP 3: Set the name of the reference point by clicking [Name]. Here we set P1, as the shown in the
figure below.

STEP 4: Lastly, click [Complete Edit] to save the data, as shown in the figure below.

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4.4.2 3.4.2 Example of Point Coordinate Update In Pick And Place Program
Example : As shown in the figure, the "StrPt” coordinate in the AUTO2 file is (0, 0), and the “Initial
point” is called to perform point initialization in the RobotProgram. In this example, after modifying
the coordinates (0,0) of the "initial point" to (0,100), then import and update to the RobotProgram.
The following figure shows the content of the reference point and the display screen of the pick and
place program.

STEP 1: Select the “StrPt” line to highlight it, click on “Coordinate Editing” and change the point
coordinate to (0,100).

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STEP 2: Click [Complete Edit] to save the reference point file and click [Reference Point Update].
Pop-up window prompt: “The current reference point file will be updated to the current pick and
place RobotProgram and the subprogram called in the program.”
Click [Confirm] to update the coordinates in the current reference point file to the current pick and
place program and its subprogram.

As shown in the figure below, the coordinates in the program are automatically changed to the
modified “Strpt” coordinates.

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5 4. Setting and Operation of Pallet


Gantry robots often use matrix pallets as the area where raw/ finished products are placed when automatic
pick and place is performed. This is to simplify the process of picking and placing materials and improve the
work efficiency of gantry robot.
When the material is picked and placed from the pallet, the motion of the robot is complicated, and the
position of picking and placing the material each time reaching the pallet is different. Therefore, the Syntec
gantry system packs the pallet motion into a standard flow package. The user only needs to understand the
flow of gantry robotic arm during picking and placing material at pallet and can set the relevant parameters of
the pallet to use the standard function provided.

5.1 4.1 Overview of Function of Pallet


Syntec gantry pick-and-place system can calculates each point of the matrix pallet by point teaching and
parameter setting. Point teaching can be divided into three-point teaching mode and single-point
teaching mode. In three-point teaching mode, the position of the pallet can be placed arbitrarily, by
teaching the starting point of the pallet and the last working point in the XY direction, the robot arm can
move to each points to pick the workpiece on the matrix pallet. T he content of this chapter mainly use
the three-point teaching mode as the description of the pallet function. In order to reduce the point
teaching setting, the single-point teaching mode only need to teach the starting point by setting the
number and spacing of the workpieces, the robot can achieve the pick-and-place function. For details,
please refer to 4.6.2 Single-point teaching mode.

Click「 」can enter the page of pallet selection, as shown in the following figure.

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Based on the selected pallet, entering the corresponding pallet teach page as shown below.

1. Pallet teach page content : Shows the functions of the pallet teaching and can be switched to
different pallet pages from the fenubar below.
2. Pallet fenubar : Switch to different pallet pages.

5.1.1 4.1.1 Introduction of Process Flow of Material Picking and placing at


Pallet
The XYZ coordinate system is the coordinate system of the robot arm, so the pallet should be
placed as close as possible to the coordinates of the robot arm. The robot arm picks up (places) the
workpiece in the order of X→Y→Z. As shown below

1. [Pallet Wait Point] : When the robotic arm enters or exits the pallet, it will first or last pass this
waiting point. This process is to ensure that the start or end of the picking or placing process is
performed in a safe zone.

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2. [Starting Point] : The starting point is the intersection point of the X and Y axes on the XY plane.
3. [X Direction Last Workpiece Point] : It is the last point in the X-axis direction of the arm
coordinate system.
4. [Y Direction Last Workpiece Point] : It is the last point in the Y-axis direction of the arm
coordinate system.
After determining [Starting Point], [X Direction Last Workpiece Point] and [Y Direction Last
Workpiece Point], in combination with related parameter settings, the robot arm can automatically
calculate the coordinates of each workpiece point on the matrix pallet position.
After understanding the concept of the matrix pallet, refer to the figure below to understand the
action flow of the matrix pallet. When the system enters the execution of the pallet program, first, it
determines whether to enter the waiting point. If it is necessary to pass the waiting point, the
corresponding pallet replacement program and peripheral actions are executed when reaching the
waiting point. Then, it reaches the workpiece point and executes the corresponding peripheral
action. Finally, it is determined whether or not a waiting point needs to be passed, and a
corresponding replacement pallet program is executed if necessary.The flow chart of the pallet
action is shown in the figure below.

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5.2 4.2 Pallet Point Teaching Setting


The display screen of the pallet is shown in the figure below :

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1. Point teaching : Through the teaching of these three points, the robot arm can decide the order and
position of picking and placing.
2. Advanced Parameter : Used to set whether the wait point is showed or not.
3. Waiting point ( advanced parameter ) : Set a waiting point to allow the pick and place movement to
decide whether to pass this point or not. The waiting point is also used to determine the timing of the
pallet change.
4. The "Point Teach", "Point Edit" and "Go to Point" buttons are used to set/edit the coordinates selected
by Icon 1.
5. Peripheral Control: Displays the Peripheral Control setting page.

5.3 4.3 Pallet Parameters setting


[Advanced Parameters] To edit waiting point, Z-direction of pallet parameters and pallet replacement’s
parameters.

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1. Decreased Speed Heigh : After the robot moves to the position above the material, it will pick(place)
the material, as shown by the length of the orange arrow in the figure below. The deceleration height is
the height of the robot above the workpiece before it goes down. (The value of the deceleration height
should be all positive. It must be based on the Z-axis of the coordinate system that vertical to the
ground and the upward direction as positive direction.)
2. Rise Height : To set the height raise of the Z axis after the robot pick/ unload the material. The
purpose is to get the arm away from the workpiece, so it is recommended that this value be greater
than the height of the workpiece. (The setting value of height raise should be positive. It must be based
on the Z-axis of the coordinate system that vertical to the ground and the upward direction as positive
direction. )
3. Rise Speed ( advanced parameter ) : To set the speed raise of the Z axis after the robot pick/ unload
the material. Can be set to move speed or deceleration speed .
4. Z Direction Number( advanced parameter ) : To set the number of workpieces in the Z axis direction
of the pallet.

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5. Z Direction Workpiece Offset(mm) ( advanced parameter ) : Negative value can be input. When it is
positive, teach point is the bottom layer of the pallet. When it is negative, teach point is the top layer of
the pallet. The value represents the height of each workpiece.
6. X Direction Last Workpiece Point : It is the last point in the X-axis direction of the arm coordinate
system.
7. Workpiece No. : To record the workpiece number currently picked/ unloaded. It defaults to 1, the
user can directly input the value, and the robotic arm will pick (place) the material to the workpiece
position of the number, the order follows direction X → Y → Z.
8. Swap Program ( advanced parameter ) : To specify the program name for the pallet replacement.
a. Swap Program function's filename limitations are shown below:
Length Limit Invalid characters Allowable extension

Maximum length of 31 ("), (<), (>), (|), (:), (*), (?), (/), (\), (.CYC)→ call sub program
characters ( ), ( .) (without extension) ,
(.txt)→ call macro
b. Examples for "call sub program" and "call macro" are shown below:
i. Enter filename:SUB_5.CYC → call sub program
ii. Enter filename:SUB_6 or SUB_7.txt → call macro
c. Show error message when filename is invalid
9. Swap Timing ( advanced parameter ) : When the pick/place pallet has been empty/full, it will execute
the pallet replacement program. The program can be chosen to execute before/after picking and
placing or no change. The following introduces three types of pallet replacement timing is based on the
passing of the waiting point.
a. No Change : Not execute the program of changing.
b. Before Picking : After the arm has finished picking and placing all the workpieces on the pallet
and leaves the pallet area, it will return to the pallet area again from the outside and reach the
waiting point of to execute the program of changing the pallet.
c. After Picking : When the arm has finished picking and placing all the workpieces on the pallet
and is ready to leave the pallet area, the pallet changing program will be executed when passed
the waiting point during leaving procedure.
10. Pass by Waiting Point ( advanced parameter ) : To set if waiting point needed to be passed when
entering or exiting the pallet.
11. Z Direction Pick&Place ( advanced parameter ) : To set the Z-axis direction to pick/ place the
material from top to bottom/bottom up. The situations of Z Direction Object Offset(mm)/Pick&Place's
combination are as follows:
Pick (top down) Place (bottom up)

Z Direction Object Teach the top of the pallet, and Teach the top of the pallet, and
Offset( Positive value ) pick the workpiece from the top place the workpiece from the
layer. bottom layer.

Z Direction Object Teach the bottom of the pallet, Teach the bottom of the pallet,
Offset( Negative value ) and pick the workpiece from the and place the workpiece from the
top layer. bottom layer.
12. Advanced Parameters : For setting whether the advanced parameters are showed or not.
13. Move Speed : The action of the robot is to move horizontally first, and then move down to the
position of the deceleration height above the workpiece with the same speed. As described by the blue
arrow in the example below.
14. Reduced Speed : The speed of the robot moving down from the deceleration height. As described by
the orange arrow in the figure below.

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5.4 4.4 Pallet Action Setting


Specify the action that the robot should perform in the pallet function. For example, when the robot
reaches the "waiting point" from the outside of the pallet, it may need actions such as switch on/off the
gripper, air blast, and change the gripper before it can reach the workpiece point; the same, reach In the
case of "workpiece point", there will also be action requirements.
There are two stopping points, [Reach at Waiting Point] and [Reach at Workpiece], both of which provide
7-step actions for editing.
[Action Setting] As shown in the figure, there are actions to edit the peripheral control, peripheral
subprogram, waiting time, and calling subprogram.

1. Peripheral Control : To perform peripheral actions control by peripheral devices. Among them, PLC M
code and subroutine can be chosen to use, as shown in the figure below.

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2. [Wait Time] : To set the timer to carry out wait time, unit in ms.

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3. [Call] : To call M-code and subprogram, as shown in the figure below..

4. [Delete Step] : To delete the action in the selected step.

5.5 4.5 Pallet File Management


The pallet file management function is mainly used to store the pallet data taught, which can be used in
different pick and place program to satisfy the multiple workpieces, multiple working conditions and
other situations, which can help to simplify the teaching process.
After entering the pallet function, can enter the pallet file management by clicking "File Management",
then as shown in the following figure.

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Pallet file management specifications :


1. Maximum filename length is 40, cannot be empty or contains invalid characters ("), (<), (>),
(|), (:), (*), (?), (/), (\), ( ), ( .).
2. Don't support shared pallet files. (e.g. Pallet 2 is using "PalletTest", so Pallet 1 can't use
"PalletTest" together.)
3. Supports CycleName is PalletCyc1~10 or PalletCyc. (Confirm the pallet file's CycleName by
external PC.)
Pallet File Management Page
1. [Current selected pallet file] : The pallet filename corresponding to the pallet number is
displayed on the right.

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2. [File manager] : After enter file manager. The file manager supports add, copy, delete,
import to controller or export to USB functions.

3. [Pallet Copy] : Copy the currently editing pallet data to selected pallet number.(The
corresponding button of the current pallet will not be enabled. That is, when the current
pallet is the No. 1 pallet, the No. 1 pallet button of the "specify paste pallet" will not be
activated.)

5.5.1 4.5.1 Copy Pallet File


The page of copy pallet is shown below:

1. [Current pallet number]:Display the currently copied pallet.


2. [Pallet number] : Select pallet number to paste(Multiple choice)
3. [Pallet data] : Select current pallet data to copy(Multiple choice)
a. [Pallet Teach] : W ait point, pick&place direction, pallet starting point, x last point and y last
point.

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b. [Pallet Parameters] : Pass by wait point, swap prog., swap timing, X.Y.Z dir. num., Z direction
object offset(mm), Pick&place Z dir., rise speed, rise height, reduced speed, reduced height,
move speed and pallet
c. [Pallet Move] : Arrived wait point move、arrived workpiece move
4. [Run] : Execute the copy function

5.6 4.6 Advanced Settings


The pallet advanced settings function is mainly used to enable additional function of pallet

[Inclined Pallet] : After clicking, inclined pallet function is enable. Settings of pick & place directions is
allowed to be set in advanced parameters setting page. According to the setting, the robot coordinate
will be rotated, shifted.
[Pallet Teach Mode] : The default three-point teaching mode can be switched to the single-point
teaching mode. When the single-point teaching mode is turned on, only the starting point of the pallet
needs to be taught, and other points can be replaced by input parameters. After clicking, the point
teaching page is the single point teaching page for setting the starting point of the pallet and the X and Y
spacing.

5.6.1 4.6.1 Inclined Pallet Setting


After enabling the Inclined pallet function in the advanced settings page, the advanced parameter
page will display the pick place direction.

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1. Pick place direction: When picking and placing materials, workpiece will be placed or picked
(used on the inclined pallet) according to the motion direction between the pick and place
direction point and the first workpiece point.
2. Incliend Pallet Shift enabled hint label : Hint the incliend Pallet Shift function is enabled.

After enabling the Inclined pallet function in the advanced settings page, the pallet parameter page
will display the incliend pallet shift entrance.

Incliend pallet shift function : By setting the shift parameters, this function eliminates the need to
re-teach the workpiece by replacing the workpiece.
(Applicable to V-shaped inclined pallet, and the workpiece is cylindrical.)

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1. Incliend pallet shift enable button : Enable/Disable the incliend pallet shift function.
2. Incliend pallet shift hint picture : The corresponding picture is displayed according to the
selection of 4.
3. Relationship between the pallet and the coordinates : Showing the relationship between the
inclined pallet and the coordinates.
4. Incliend pallet shift parameters :
a. Workpiece diameter D : Current workpiece diameter
b. Reference workpiece diameter d : Reference value of workpiece diameter, used to
calculate the basis of workpiece offset due to diameter
c. Workpiece Length L : Current length of workpiece
d. Reference workpiece length l : The reference value of workpiece length, which is used to
calculate the workpiece offset due to length
e. Pick Offset S : Only when picking up the workpiece, after picking up the workpiece, first
move anti-interference lift offset H, then move anti-interference offset S
f. Pick Offset H : Only when picking up the workpiece, after picking up the workpiece, first
move anti-interference lift offset H, then move anti-interference offset S
g. V-shape angle & Pallet Coord Relationship : Select the current corresponding pallet type
according to 3.
Example : When the vector formed by the starting point of the pallet and the last
workpiece point in the X direction of the pallet, where the positive direction points to the V
opening, is CaseD.
h. Pallet V-shape angle : Angle of V-shape pallet.
Hint : If the direction vector of the dimension offset is calculated as 0, an alarm will be displayed
during processing. The following is an example.
Example 1: CaseA pallet, the dimension offset is Y direction, but the number in Y direction is 1.
Since the number in the Y direction is 1, the direction vector is 0, so an alarm will appear.
Example 2: CaseB pallet, the dimension offset is X direction, and the number in X direction is 2.
But when teaching points, the vector formed by "start point" and "end point in X direction" is
0. An alarm will appear.

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5.6.2 4.6.2 One Point Teach Mode


When the placement direction of the pallet is parallel to the coordinate system of the robot arm.
The operator only needs to teach the starting point of the pallet, input the workpiece spacing,
number and other information to achieve the function of picking and placing the pallet when
single-point teaching mode is turned on. For related setting examples, please refer to 4.7.2 Single-
point teaching example.
The single-point teaching mode page is as follows:

1. The starting point of the Pallet : teach the robot arm to pick and place the workpiece on the first
point of the Pallet.
2. X, Y direction spacing : Enter the spacing between two adjacent workpieces on the Pallet. The X
and Y directions are the X and Y directions under mechanical coordinates .
3. Pick and place order : It can be determined that the X direction or Y direction is the priority order
of the robot arm. For example: Select X direction priority, the robot arm will first pick and place
the workpiece in the X direction and then change the next row of workpieces in the Y direction for
pick and place.
In single-point teaching mode, if the inclined pallet setting is turned on, the advanced parameter
page is as follows

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The setting of the inclined pallet changes from point teaching to input inclination angle, and the
feeding direction will be perpendicular to the plane of the pallet. The inclined angle is set as shown
in the figure below, which is calculated counterclockwise from the X-axis direction of the machine.

5.7 4.7 Example of Pallet Setting

5.7.1 4.7.1 Three Point Teach Example


Example 1: How to configure the pallet when the picking and placing of materials both share the
same pallet? In this example, the pallet specification is 3×4, where the first workpiece coordinates
are (100, 100, -500), and the distance between workpieces are 10 cm in both X and Y directions.
The setting procedure: Define the pallet 1 as the material picking pallet and set the relevant pallet
parameters. Then, define the pallet 2 as the material placing pallet and refer to the parameter
setting of pallet 1.

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STEP 1: Enter the screen of pallet 1 to perform point teaching.

Click [ ] → [Pallet 1] through the teach pendant to pop up the following window:

Under the manual mode, through the [Peripheral control] point the material loading gripper to
the workpiece, and manually move the axis to the first workpiece position, then click [Starting
Point] → [Set Point]; using the same way to set [X Last Point] and [Y Last Point].

STEP 2: Pallet parameters settings.


Click the "Pallet Param" fenubar below.
Set general parameters according to actual requirements:
1. [Move Speed] = 6,000 mm/min
2. [Reduced Speed] = 3,000 mm/min
3. [Deceased Speed Height] = 30 mm
4. [Workpiece No.] = 1

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5. [X Direction Number] = 3
6. [Y Direction Number] = 4

• Is it necessary to perform a pallet replacement program during processing?


In this example, the pallet is not replaced.
[Pallet Change Timing] = No Change
[Pallet Change Program] = Blank
• Is it necessary to perform a pallet replacement program during processing?
In this example, the pallet is not replaced.
[Pallet Change Timing] = No Change
[Pallet Change Program] = Blank
• Confirm the number of workpieces in the Z axis direction?
In this example, there is only one workpiece in the Z direction.
[Z Direction Number] = 1
[Z Direction Object Offset(mm)] = Zero or Empty
[Z Direction Object Offset] = Pick (top down)
• Confirm if it passes the waiting point?
In this case, the waiting point needs to pass when the arm enters and leaves the pallet.
[Pass by Waiting Point] = Both
[Rise Height] = 30mm
[Rise Speed] = Reduced Speed(mm/min)
• Teaching waiting point
In manual mode, move the axis to the desired waiting point position. Click [Waiting Point] -
[Set Point] to teach the current coordinates as waiting point.
STEP 3: Pallet action settings.
Click the "Pallet Move" fenubar below.

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• After the arm enters the pallet, determine the peripheral action when it reaches the
waiting point.
Considering that the robot enters the pallet to pick the material, when the waiting point is
reached, it should be ensured that the loading gripper points to the workpiece and is in the
unclamping state.
Therefore, use the teach pendant to perform the following operations:
[Step 1] → [Peripheral Control] → [gripper Reverse] → [Confirm],
[Step 2] → [Peripheral Control] → [Loading gripper Release] → [Confirm]
• Confirm the peripheral actions when reached the workpiece
When the arm reaches workpiece point, the loading gripper should clamp the workpiece to
complete the material picking.
Therefore, use the teach pendant to perform the following operations:
[Step 1] → [Peripheral Control] → [Loading gripper Clamp] → [Confirm],
Until now, the parameters of the picked pallet have been finished configuring. Next, set the
placed pallet parameters. Since the material is pick and place on the same pallet, fine-tuned
of the point parameters of the pallet is enough.
STEP 4: Export the data of pallet to other pallet

Click [ ] → [Pallet 1] →[Advanced]→ [Copy Pallet Data] from the teach pendant to pop up
the following window:

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After clicked [Specify the pallet to paste ], then click [Select the copy pallet data ] and then click
[Confirm ] to import the file data of pallet 1 to the specified pallet.
Step 5: Refer to Step 1 – 3 and the action flow of placing pallet, perform the parameter setting
for placing pallet.

5.7.2 4.7.2 One Point Teach Example


This chapter only describes examples of point teaching in single point teaching mode. For functions
such as “peripheral control”, “file management”, and “advanced parameter setting” of the pallet,
please refer to 4.7.1 three-point teaching example.
Example 1: The situation is as shown in the figure below. The inclined pallet is located on the left
side of the machine tool. The first workpiece to be picked and placed is the upper left of the
material plate. The first row in the Y direction is taken and placed first, and then the next row is
changed along the X direction. The material plate is flat. The included angle with the mechanical
coordinate X+ axis is 30 degrees, and the distance between the workpieces is 30mm and 50mm
respectively.

The single-point teaching parameters are set as follows:


1. The starting point of the pallet : set at the No. 1 point position.

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2. X direction spacing : -30 mm


3. Y direction spacing : -50 mm
4. Number in X direction : 3
5. Number in Y direction : 2
6. Pick and place order : Y direction priority
7. Inclined angle : 30 degrees
The X and Y direction spacing setting is directional. The end workpieces in the X and Y directions
are all in the negative direction of the starting point of the pallet, so the X and Y spacing are all
negative values.
Example 2: The situation is as shown in the figure below. The inclined pallet is located on the right
side of the machine tool. The first workpiece to be picked and placed is the upper left of the
material plate. The first row in the X direction is placed first, and then the next row is changed in the
Y direction. The included angle with the mechanical coordinate X+ axis is 150 degrees, and the
distance between the workpieces is 5mm and 10mm respectively.

The single-point teaching parameters are set as follows:


1. The starting point of the pallet: set at the No. 1 point position.
2. X direction spacing: 5 mm
3. Y direction pitch: 10 mm
4. Number in X direction: 4
5. Number in Y direction: 3
6. Pick and place order: X direction priority
7. Inclined angle: 150 degrees
The X and Y direction spacing setting is directional. The end workpieces in the X and Y directions
are all in the negative direction of the starting point of the pallet, so the X and Y spacing are all
negative values.

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6 5. Pick and Place Program Edit


The previous section was about the preparation of the gantry robotic arm before the teaching of pick and
place program. The gantry robotic arm pick and place program is edited in a graphical dialogue.
Therefore, the user does not need to learn the control syntax of the robotic arm, and only needs to plan
the arm movement position, the sequence of peripheral control actions, and the timing for calling the
pallet and the task of picking and placing the material can be completed.
A single pick and place program is a file. This file itself can either be the main program or subprogram of
the gantry robotic arm. The main program of the robot arm is the currently opened program file of the
teach pendant. There are two ways to edit the pick-and-place program. First one is a dialog-style table
editor. The user can complete the pick and place process flow through teaching and clicking
instructions. The other one is to directly edit the program on the related instructions, operations, and
logic using the words writing. This kind of application is more advanced, and the common user can skip
this part.
This chapter will explain in detail for the teaching and editing of program through dialog-style table
editor.

6.1 5.1 Overview of Program Edit Function

Click the [Main] → [ ] button through the teach pendant to enter the pick and place teaching
screen, as shown below:

1. [Current Program] : The currently editing pick and place program.


2. [Program Step] : The steps and actions of current pick and place program. Action
related parameters. Also shows the related information such as coordinate values and
speed.
3. [Program Teaching] : There are Move, PCcontrol, Call, Assist, Pallet, Logic
commands. These buttons are enabled when authority is higher than training level and

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in non-automatic mode.
4. [Save File] : After modifying/ adding the steps of the program, file saving is required.
5. [Page Switching] : Perform the page up/down of the page of the pick and place
program.
6. [Robot Program Fenubar] : Performs fast switching between the pages of pick and
place program, file management, and macro program. These button are enable while
in non-automatic mode and in ready or not ready state. These buttons are enabled
when authority is higher than training level and in non-automatic mode.

7. [Start Block] : The specified start block can be input under any mode except "In
process", "Hold" and "Axial status"
When the processing is started, it will directly go to the block for processing according
to the specified block number, and reset the value to 1.
(When you enter a number greater than 1, the Start Block function is on. The label of
Start Block's backcolor will be yellow and the program cursor will be automatically

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assigned to the block once.)

8. [Specify Processing breakpoint] : When the current processing is paused or directly


reset to stop, the system will record the end block number. If the button be clicked, the
pop-up window will display the last run block number. Click confirm, and it will
automatically enter the specified start block.
It is not possible to click in "In process", "Hold", and "Axial moving status".

6.1.1 5.1.1 File Management


The file management function in the pick and place program is used to create, save, and copy the
current program.
Click [Main] → [Program Edit] → [File Management] in the teach pendant to enter the file
management screen of the pick and place program, as shown in the following figure

1. [New File] : To open a new pick and place program file. Can not create the PCSubProg
file that it's filename start with PCSubProg here.
2. [Copy File] : To copy the selected program data into a new file
3. [Delete File] : To delete the selected pick and place file.

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4. [Import File] : To copy the pick and place programs from external devices such as
network/U disk to the controller.
5. [Export File] : To copy the pick and place programs from the controller to external
devices such as network/U disk.
• New file function's filename limitations are shown below:
Length limit Invalid characters

Maximum length of 31 characters ("), (<), (>), (|), (:), (*), (?), (/), (\), ( ), (.)
Minimum length of 1 character

• Notice:Load files is subject to the same filename limitations.


Note:Show error message when filename is invalid.

6.1.2 5.1.2 Macro Program


The macro program is mainly used by testers to check the teaching program when the program is
abnormal. Detailed description is not provided here.
Gantry macro command axis name specification.

Type Axis 1 Axis 2 Axis 3 Axis 4 Axis 5

Single/ 2+0 X Z
Multi
Robot
2+1 X Z Y1

2+2 X Z Y1 Y2

3+0 X Y Z

3+1 X Y Z Y1

4+0 X Y Z C

4+1 X Y Z C Y1

5+0 X Y Z B C

6.1.3 5.1.3 Peripheral Subprogram


Provides a list of files displaying the names of original or customized peripheral subprograms to
provide a quick and friendly way to open peripheral subprograms files for viewing or teaching (the
display name is determined by the original or customized subprograms) as shown in the following
figure.
Notice :

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1. Permissions must be in "Edit Mode" (included) or above to access the list of peripheral
subprograms.
2. Peripheral subprograms are prohibited to teach "Motion Command", "Call Peripheral
subprograms".

The steps are shown below,

1. Click on the file to open the peripheral subprogram.


2. Click on the "On" button.
3. The page will switch back to the teach page and display the selected subprogram, the
file name will display the multi-language string of subprogram.

6.2 5.2 Program Editing


This section describes the main functional components for the editing of pick and place program and the
use method of each commands. First, the program teaching components can only be enabled by
switching the system state to the non-automatic state through the [Function Panel]. The operator then
teaches the program on the selected procedural steps.

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6.2.1 5.2.1 Move Commands


[Move Commands] is mainly used to teach the three kinds of movements: circle Movement, rapid
movement and slow movement in combination with reference points to perform the planning of
axial movement.
By pressing the [Move Command] button on the teach pendant, the following window pops up.

1. [Move Commands] : There are three kinds of movement modes: circle Movement,
rapid movement and slow movement.
2. [Move Target Point] : Select the point where the current step will move to.
3. [Single Axis Movement] : It is used to set whether the current arrival point is axially
independent motion or multi-axis interpolation motion.
4. [Current Coordinate] : The current coordinate position of the arm.
5. [Reference Point] : Point information in the current reference point file. The settings
can be taught at the bottom of the page.
6. [Speed] : Set the movement speed in arc/slow movement in mm/min. Fast moving
does not require setting this parameter.
7. [Smoothing Corner] : Set the smoothness of the corner.

Below are the detailed explanation of the three Move Commandss:


1. [Circle Movement] : The circle Movement mode will perform arc motion with the three
points in space that not on a straight line. Using the position of a single node on the
gantry robotic arm as a starting point, two points need to be taught as the
"intermediate point" and "end point" of the arc as the picture shows:

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a. Select [circle Movement] in move commands.


b. Select to teach [Intermediate Point] and click [Current Position] or [Reference
Point] below.
c. Select to teach [End Point] and follow Step 2.
d. After edit movement [Speed], click [Confirm] to complete the teaching of circle
Movement.
e. Remarks :
i. The arc starting point is the position where the arm reached on last
block.
ii. If the arc has two or more points are the same point, the arm will go
straight.

2. [Rapid Movement] : The rapid movement mode performs a single-axis/multi-axis


linear motion with the rapid movement speed set in the parameter. As the picture
shows :

a. Select [Rapid Movement] in the Move Commands.


b. Select the point to be reached, either click [Current Position] or [Reference
Point] below.
c. Click [Confirm] to complete the rapid movement teaching process.
3. [Slow movement] : The slow movement mode performs a single-axis/multi-axis linear
interpolation motion at the customized speed, as the picture shows below :

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a. Select [Slow Movement] in the Move Commands.


b. Select the point to be reached, either click [Current Position] or [Reference
Point] below.
c. Click [Confirm] to complete the slow movement teaching procedure.
• After the axial movement instruction has been taught, the "circle Movement", the
"rapid movement", and the "slow movement" commands are programmed as shown
below:
Move Commands cannot be taught in the peripheral subprogram.

6.2.2 5.2.2 Pallet Command


[Pallet Command ] is mainly used to call the matrix pallet program to perform the robot picking
and placing material on the pallet. This function first requires setting the pallet parameters and
plan the action flow in the "Pallet” before the pallet program can be called in the pick and place
program.

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Setting procedure is shown as follows :

1. Select [Pallet]
2. After confirming the pallet program number to be executed, click [Confirm]

6.2.3 5.2.3 Peripheral Control


[Peripheral Control] To execute programmed input and output terminal actions, such as: the
loading gripper unclamping / clamp, placing gripper unclamping / clamp and other peripheral
actions.

The system screen shown in the figure below :

This screen is divided into two types of operations:


1. PLC M code:

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a. The action to be performed is written in the PLC. The terminal action can be
changed by changing the M code in the PLC.

2. (Peripheral) subprogram:
a. Press to execute a subprogram. This subprogram can be edited in the program
editing screen. The terminal action is achieved by the commands of Gantry
Product Operation Manual(10.118.x修編中)#Input, Output Commands.

3. Input Commands : [Input Commands] can be categorized into "Wait" and


"AdvWait". Both commands support I-bit(0-511), A-bit (0-511), Register(0-65535.15)。
For detailed instructions, check G10 L1810 and G10 L1820 in Industry Machine
Application Manual(CHT) .
For "Wait" it adds "WAIT()" command to make sure previous point is reached before
system starts waiting.
• Wait (Enable Stop)
• Wait command can be programmed to wait for I/R/A bit. When program
is executing this command, program won't continued to next line until
designated signal status is reached.

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• Example: Teach Wait command to wait I-bit:

i. Enter Input command teach window and press signal button "I".
When signal is selected to be "I", number selection can be
done by direct input or button selection on the list. The list
provides I0~I127 for customized string. I-bit from 128 to 511 can
only be select by direct input.
ii. Use direct input or button selection on the list to select the signal
bit. In this example, press "Input0".
iii. Click the duration (ms) input box. The meaning of this argument :
How long the signal should be for this continuous time to be
recognized as valid. (Unit : ms, integer only) Default value : 10ms.
iv. Select target status "ON"
v. WaitTime (ms) is an optional, this example did not enter it. The
meaning of this argument : If the signal is not recognized as valid
after waiting for this amount of time, execute OutOfTime Action.
(Unit : ms, integer only)
Caution: Wait command will wait for the signal infinitely if this
field left empty, because the signal condition must be met before
executing the next block.
vi. OutOfTime : Select action Alarm will t rigger alarm COR-338
G10 L1820 signal condition waiting timeout; select Pass will
execute next line command.
vii. Press "Confirm" to teach this command.
• AdvWait (Not enable stop)
• All parameter is the same as "Wait" command. Uncheck "Enable Stop"
to teach this command.
Caution : While robot arm is approaching target point, it passes
without stop at the point if signal is recognized as valid.
To pass without stop at the point, set "Corner Rounding" for the
previous move command.
4. Output Commands : Output Command can be categorized into "Signal" and
"AdvSignal".
Output commands can be used to control output signals of the ON/OFF status of O/R/A
bits.
Both commands support O-bit(0-511), A-bit (0-511), Register(0-65535.15)。For
detailed instructions, check G10 L1805 for Signal and G10 L1803 for AdvSignal
in Industry Machine Application Manual(CHT) .

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• Signal (Not During Motion)


• In the robot program, commands for output O/A/R points can be
programmed to control the designated O-bit, Register, and A-bit to be
ON or OFF.
• Teach "Signal" command to control O-bit signal :

i. Enter "Output" command teach window and press signal "O".


When signal is selected to be "O", number selection can be done
by direct input or button selection on the list. The list provides
O0~O127 for customized string. O-bit from 128 to 511 can only
be select by direct input.
ii. Use direct input or button selection on the list to select the signal
bit. In this example, press "Output0".
iii. Duration : Set the signal to reverse status after entered amount
of time. It won't be reversed if this field left empty.
iv. Use button selection to select the status for output signal.
v. Press "Confirm" to teach this command.
• AdvSignal (During Motion)
• The robot program can be programmed to switch the state of the output
point in the motion block.
Caution: This command can only be taught before a motion
command to output signal during this motion, otherwise the command
won't take effect.

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• Teach "AdvSignal" command to control O-bit signal :

i. Enter "Output" command teach window and press signal button


"O". When signal is selected to be "O", number selection
can be done by direct input or button selection on the list. The
list provides O0~O127 for customized string. Obit from 128 to
511 can only be select by direct input.
ii. Use direct input or button selection on the list to select the signal
bit. In this example, to choose O511 enter "511".
iii. Duration : Set the signal to reverse status after entered
amount of time. It won't be reversed if this field left empty. In
this example, it lefts this empty.
iv. Use button selection to select the status for output signal.
v. Decide TriggerDistance to be calculated from Start or
End of the motion.
vi. Enter the TriggerDistance of the point from the reference
direction. Only positive values are accepted.
vii. ShiftTime : Can be set to shift a certain amount of time
between actual trigger point and trigger distance. (+ : Advanced,
- : Delayed, and No input : at the trigger position.)
viii. Press "Confirm" to teach this command.

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6.2.4 5.2.4 Call Commands


[Call] components are used to call the commands, such as M code in PLC and subprograms, end of
subprogram, waiting delays.

1. [Call M Code] : Enter the number of the M code (>0 integer). The program will execute
the pre-written M code when the program runs to this line.

2. [Call Subprogram] : Call Subprogram function can call "sub program" or "macro".

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a. Call Sub Program function's filename limitations are shown below:


Length limit Invalid characters Allowable extension

Maximum length of ("), (<), (>), (|), (:), (*), (?), (.CYC)→ call sub
31 characters (/), (\), ( ), (.) program
Minimum length of 1 (without extension) ,
character (.txt)→ call macro
b. Examples are shown below:
i. Enter filename:SUB_5.CYC → call sub program
ii. Enter filename:SUB_6 or SUB_7.txt → call macro
c. Show error message when filename is invalid
d. Calling subprogram commands cannot be taught in peripheral subprogram.
3. [End of Subprogram] : The end of the subprogram is a flag to identify the
subprogram. When the teaching pick and place program is subprogram, this must be
added at the end of the program.
4. [Wait] : Provides a timer to stop the arm and wait for a period of time. The timer can
refer to a "variable (#/@)" or a "positive integer".

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6.2.5 5.2.5 Assistant Commands


[ Assistant ] component contains the functions of command line, coordinates system, goto and label.

1. [Cmd Line] : Enter NC commands directly through the keyboard.

2. [Coord.] : Change current coordinate.

3. 「Goto」:Jump to the corresponding label row. Click directly on the label provided
on the UI to teach. The total number of the fixed label is 12, and the number ranges

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from 10000 to 10011.

4. 「Label」:Name a line in the program, and you can jump to this line by using the
Goto command with this label. Click directly on the label provided on the UI to teach.
The total number of the fixed label is 12, and the number ranges from 10000 to 10011.

6.2.6 5.2.6 Logic Commands


Logic components are mainly used to perform teaching of variable arithmetic computation, IF
statements, and loop statements. It can carry out computation on the variable (#/@) provided by
the controller system, such as assigned values, arithmetic calculation, add/ subtract or taken a
remainder.
[Computing] To perform teaching of variable arithmetic computatio in the pick and place program.
When the system executes this instruction, it will perform computation and assign values based on
the variable number and value set. As shown below :

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1. [Target Variable] : Local variable (#) or Global variable (@).


2. [Operators] : Assignment operator (:=); Add (+); Subtract (-); Multiply (×); Divide (/);
Target variable plus 1 (INC); Target variable minus 1 (DEC) and Take remainder (MOD).
3. [Variable Source] : Constant (NUM), Local Variable (#) or Global Variable (@).
[Condition] To implement the logic function in the pick and place program. Can execute the logic
command in the form of IF-ELSEIF-ELSE-END_IF of certain logic conditions. When the system
executes the [Condition] command, the logic process will be performed. As shown below :

1. [IF Relevant Command] : There are IF; ELSEIF; ELSE and END_IF. Each IF instruction
must end with a END_IF.
2. [Condition 1] : The first condition consisting either a local variable (#), a global
variable (@), and a bit (A).
3. [Logical connection] : NONE, AND, OR.
4. [Condition 2] : The second condition consisting either a local variable (#); a global
variable (@), and a bit (A).

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[Loop] is used to implement the loop execution function in the pick and place program. It can
execute the FOR loop or WHILE loop instruction of a certain loop condition. When the system
executes to the [Loop] command, the loop execution process will be performed.

1. [WHILE Loop Related Commands] : There are WHILE and END_WHILE. Each WHILE
command must be terminated with a END_WHILE.
2. [WHILE Loop Condition] : The loop condition of the WHILE loop consisting either a
local variable (#), a global variable (@), and a bit (A).
3. [FOR Loop Related Commands] : There are FOR and END_FOR. Each FOR loop
command must end with a END_FOR.
4. [FOR Loop Condition] : The loop condition of a FOR loop consisting either a local
variable (#), a global variable (@), and a bit (A).
5. [EXIT commands] : Used to jump out of FOR loop and WHILE loop.

6.2.7 5.2.7 Step Edit


[Step Edit] is used to perform the insert or delete step of the selected step, as well as delete all the
steps at once. As shown below :

In the step edit pop-up window, there are also other functions as the following:
1. [Execute Step] : Use to execute the double-clicked program steps under hand
simulation mode to verify the current program steps.

2. [Edit Command] : Use to modify the command that has been taught. If a motion
command is to be edited, edit window in the figure below will pop-up, and other
command will pop-up the edit window corresponding to that particular command.
3. [Go to Subprogram] : The following two commands support direct program editing

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a. Call subprogram
i. The sub-file name of program is CYC (i.e., robot.cyc). It will directly open
the program editing when clicking to enter the sub-program function.

ii. The program is a macro program (456). Click to enter the subprogram
function will open the macro program editing page.

iii. The program is a TXT file (123.txt). Click to enter the subprogram
function to open the macro program editing page.

i. If this TXT file has a program CYC file with the same name, a hint
will pop up to inform the user.

b. Peripheral subprogram
i. The program action is a peripheral subprogram, click the function to
enter the subprogram and it will directly enter the peripheral
subprogram.

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ii. After entering the peripheral subprograms, the display name of the
corresponding multi-language string of the current peripheral
subprogram and the name of the previous program can be seen, and the
previous program can be returned to the previous one through the
"Back to previous program" button.
Note: If the program is run while the page is displayed as a
subprogram, the current page jumps back to the main program page
and executes the main program.

6.3 5.3 Example of Program Edit and Execution


This section will take 1 to 2 gantry pick and place as example to introduce the teaching procedure of pick
and place program.
As shown in the figure, the gantry arm that using matrix pallet will perform automatic material pick and
place for two machines, CNC 1 and CNC 2.

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DI(0) of the gantry arm is the service request signal from CNC 1 while DI(1) is the service request signal
from CNC 2. Therefore, the pick and place program for the gantry robotic arm can be made of the
following separate flows: initialization, pick material, unload material, CNC 1 service and CNC 2 service.
As shown in the figure below :

1. [INITAIL.CYC] : The initialization program for the robotic arm, which used to return arm
to the specified starting point and initial status.
2. [GET.CYC] and [SET.CYC] : The material picking and material placing programs for the
robotic arm, respectively, which used to plan the material picking/ placing at pallet or
a specified position.
3. [CNC1.CYC] and [CNC2.CYC] : The pick and place programs for machine CNC 1 and CNC
2, respectively which used to plan the actions of the robotic arm when entering the
machines to execute the material picking and placing .

6.3.1 5.3.1 Main Program


[Main Program] is used to plan the whole pick and place program for the gantry robot. As shown in
the figure, when the gantry robot started, it will first carry out initialization program and material
picking program, then it enters the cycle flow and keep checking for the service request from CNC 1
and CNC 2. If R3000 or R3001 as 1, then it will jump out the loop and execute the pick and place
program for the corresponded machine. Lastly, material placing program is executed to place the

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material taken from machine to pallet.

By referring to the flow of the above pick and place program, teach the following MAIN program:

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6.3.2 5.3.2 Initialization Program


Initialization program is used to perform the returning to starting point, and reset the arm grippers
to forward position and under unclamping status.

6.3.3 5.3.3 Pick Program


Material picking program is used to plan the actions taken during the material picking at pallet.
[Grippers Reverse] and [Loading gripper unclamping] can also be set at [Action Setting] → [At

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Waiting Point] at the pallet setting.

6.3.4 5.3.4 CNC 1 Service Program


As shown in the figure, CNC 1 service program is used to perform the material loading/ placing
program through robotic arm for machine CNC 1.

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7 6. Abnormality Exclusion

7.1 6.1 Touch Screen Adjustment


Enter [Main] → [Setting] → [Maintenance] → [F5 System Settings] → [F1 Screen Adjust] in order and
perform the touch screen adjustment procedure.
As shown below :

1. By referring to the cross indicator on the screen, tap 9 times on the screen following order.
2. After the cross indicator disappears, click anywhere on the screen to complete the adjustment.

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8 7. Appendix

8.1 Contact Window

7. Appendix – 104

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