Operation Manual VER E

DISPENSING ROBOTS
OPERATING MANUAL

DISPENSER TECH CO.,LTD

http://www.D-T.com.tw
TEL: 886-2-8221-6639 FAX: 886-2-8221-6617
Operating Manual

Table of Contents
SECTION 1: INTRODUCTION ....................................................................................5
1. SAFETY PRECAUTIONS ........................................................................................................6
2. PACKAGE CONTENTS...........................................................................................................6
3. CONNECTOR AND SWITCH LOCATIONS ................................................................................7
3.1 DIY-200 ...............................................................................................................................................7
3.2 200F/300F/400F/500F ........................................................................................................................8
3.3 200Q/300Q/400Q ................................................................................................................................9

SECTION 2: SETUP ....................................................................................................10

1. UNPACKING THE ROBOT......................................................................................................11
2. SETUP ..................................................................................................................................11
SECTION 3: TEACHING OVERVIEW .........................................................................12
1. TEACHING OVERVIEW .........................................................................................................13
2. USING THE TEACH PENDANT ...............................................................................................15
2.1 Key Selection .......................................................................................................................................15
2.2 Key Assignments ..................................................................................................................................16
3. POINT TYPE & FUNCTION SUMMARY ..................................................................................18
3.1 F1 Menu ...............................................................................................................................................18
3.2 F2 Menu ...............................................................................................................................................20
3.3 Utility Menu .........................................................................................................................................21
3.4 F3 Menu ...............................................................................................................................................22
3.5 F4 Menu ...............................................................................................................................................23
3.6 Function Summary ...............................................................................................................................25

SECTION 4: PROGRAMMING EXAMPLE .................................................................26

1. PROGRAMMING EXAMPLE ...................................................................................................27
2. GOOD PROGRAMMING PRACTICES ......................................................................................31
3. EDITING A PROGRAM...........................................................................................................32
3.1 Changing a Point’s XYZ location ........................................................................................................32
3.2 Insert / Delete an Instruction ...............................................................................................................33
4. CHANGING THE PROGRAM NUMBER ....................................................................................33
5. CHANGING FROM TEACH MODE TO RUN MODE ..................................................................33
SECTION 5: FUNCTION REFERENCE ......................................................................34
1. F1 (POINT MENU)................................................................................................................35
1.1 Dispense Dot ........................................................................................................................................35
1.2 Line Start .............................................................................................................................................35
1.3 Line Passing.........................................................................................................................................36
1.4 Circle ...................................................................................................................................................36
1.5 Arc Point ..............................................................................................................................................37
1.6 Line End ...............................................................................................................................................37
1.7 End Program .......................................................................................................................................37
1.8 Dispense ON / OFF .............................................................................................................................38
1.9 GOTO Address.....................................................................................................................................39
1.10 Step & Repeat X ...................................................................................................................................39
1.11 Step & Repeat Y ...................................................................................................................................44
1.12 Brush Area ...........................................................................................................................................45
1.13 Call Subroutine ....................................................................................................................................52
1.14 Call Program .......................................................................................................................................53
1.15 Set I/O ..................................................................................................................................................53
1.16 Wait Point ............................................................................................................................................54
1.17 Stop Point ............................................................................................................................................54
1.18 Home Point ..........................................................................................................................................54
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1.19 Loop Address .......................................................................................................................................54
1.20 Dummy Point .......................................................................................................................................55
1.21 Initialize ...............................................................................................................................................55
1.22 Label ....................................................................................................................................................55
1.23 Display Counter ...................................................................................................................................55
1.24 Loop Counter .......................................................................................................................................55
1.25 Dispense Output Setup .........................................................................................................................56
2. F2 (MENU 1) .......................................................................................................................57
2.1 Group Edit ...........................................................................................................................................57
2.2 Expand Step & Repeat .........................................................................................................................64
2.3 Program Name.....................................................................................................................................65
2.4 Z-axis Limit (mm) ................................................................................................................................65
2.5 Initial Output Port ...............................................................................................................................65
2.6 Debug Speed (mm/s) ............................................................................................................................66
2.7 Utility Menu .........................................................................................................................................66
2.8 Jog Speed .............................................................................................................................................66
2.9 Adjust Origin .......................................................................................................................................66
2.10 Control by RS232 .................................................................................................................................66
3. UTILITY MENU (WITHIN MENU 1) ........................................................................................67
3.1 Program ...............................................................................................................................................67
3.2 Memory ................................................................................................................................................67
3.3 Teach Pendant .....................................................................................................................................68
3.4 Relocate Data ......................................................................................................................................68
3.5 Lock or Unlock Program .....................................................................................................................70
3.6 Password Setup ....................................................................................................................................70
3.7 Cycle Counter ......................................................................................................................................70
3.8 Key Beep ..............................................................................................................................................70
3.9 Test Function .......................................................................................................................................71
4. F3 (MENU 2) .......................................................................................................................73
4.1 Numerical Move ...................................................................................................................................73
4.2 Save Temp Point ..................................................................................................................................73
4.3 Move To Temp Point ............................................................................................................................73
4.4 Undo Program .....................................................................................................................................73
4.5 Redo Program ......................................................................................................................................73
4.6 Debug Program ...................................................................................................................................73
4.7 Move To Home Position ......................................................................................................................74
4.8 System Information ..............................................................................................................................74
4.9 Execute Point .......................................................................................................................................74
4.10 Program List ........................................................................................................................................74
5. F4 (SETUP MENU) ...............................................................................................................75
5.1 Line Speed............................................................................................................................................75
5.2 Line Dispense Setup .............................................................................................................................75
5.3 Point Dispense Setup ...........................................................................................................................76
5.4 Dispense End Setup .............................................................................................................................76
5.5 Z Clearance .........................................................................................................................................78
5.6 X/Y Move Speed ...................................................................................................................................79
5.7 Z Move Speed .......................................................................................................................................79
5.8 Home Position Setup............................................................................................................................80
5.9 Adjust Position Setup ...........................................................................................................................81
5.10 Retract Setup ........................................................................................................................................83
5.11 Quickstep .............................................................................................................................................85
5.12 Quickstep path .....................................................................................................................................85
5.13 Auto Purge Setup .................................................................................................................................86
5.14 ESTOP Output Status...........................................................................................................................86
5.15 Acceleration .........................................................................................................................................87
5.16 Pause Status .........................................................................................................................................87
5.17 USB Up/Down Load ............................................................................................................................87
6. I/O SPECIFICATIONS ............................................................................................................89
6.1 Dispenser Connector: ..........................................................................................................................89
6.2 Ext. Control Connector: (Optional) .....................................................................................................89
6.3 Output Signals .....................................................................................................................................90
6.4 Input Signals ........................................................................................................................................90
7. SYSTEM SPECIFICATIONS.....................................................................................................92
8. MACHINE DIMENSIONS .......................................................................................................95

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SECTION 1: Introduction

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1. Safety Precautions

1.1 Make sure the robot is connected to a properly grounded power source before
operating.

1.2 Keep away from any moving parts while the robot is running.

1.3 Loading and unloading of parts and material must only be done when the robot is at
a complete stop.

1.4 Changing of fixtures or tooling must be done with the power source disconnected.

1.5 The 200F, 300F and 400F robots should only be operated in an environment
between 0 and 40 degrees Celsius with humidity of 20 to 95 percent and no visible
condensation.

1.6 Do not store or setup the robot in an area where it is directly exposed to sunlight.

1.7 Do not operate the robot where electrical noise is present.

1.8 Only use a neutral chemical for cleaning the robot. Do not use alcohol, benzene or
thinner as it may damage the paint on the robot.

2. Package Contents

In addition to this operating manual, the following items should be included with the robot:

1. Main Unit (200F, 300F or 400F)

2. Syringe Holder, 30-55ml, Fixed
3. Dispensing Cable
4. Mounting Screw for Syringe Holder
5. Power Cord

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3. Connector and Switch Locations

3.1 DIY-200
Front View
PURGE START EMG

PURGE START
NCY
GE

EMER

ST
OP
Power PROG NO. Teach Pendant

RUN RS 232

TEACH

PROG. SWITCH RUN/TEACH RS232 Teach Pndant

Rear View

Ext. control Dispenser X-AXIS motor Y/Z –AXIS motor

USB PORT I/O PORT Power Inlet Power Switch

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3.2 200F/300F/400F/500F

Front View

POWER LED PURGE PRO. SWITCH RUN/TEACH START EMG

POWER PURGE PROG NO. RUN START

NCY
GE

EMER

ST
OP
TEACH

Teach Pendant RS 232

Teach Pendant RS232 Port

Rear View

USB PORT Ext. control Dispenser Power Switch

Voltage: 120-240V/50-60Hz
1~2 Amps
Warning: Disconnect Power Cord Before Servicing

USB Ext. control Dispenser Pow er Inlet Pow er Sw itch

I/O PORT
RoHS
Compliant

I/O PORT Power Inlet

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3.3 200Q/300Q/400Q

Front View

Program Switch PURGE START E-Stop

RUN/TEACH Tip Finder Teach pendant

Rear View

Ext. Control Dispenser Power Switch

USB PORT RS232 PORT I/O PORT Power Inlet

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SECTION 2: Setup

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1. Unpacking the Robot

 Always lift the robot from its base. Never lift the robot from the cross member.
 Remove all accessories from the shipping package before attempting to remove the
robot.
 Place the robot on a stable workbench before operating

If you can, do not discard the packing material as these items may be needed if the robot
is shipped or moved in the future.

2. Setup

The robots are available with different configurations. The setup of each machine with its
accessories will depend on the customer‟s application.

2.1. Remove the shipping bracket 1 by removing the screws that secure it. Keep the
shipping bracket and screws in a safe place for future use.
2.2. Connect one end of the Teach Pendant cable to the Teach Pendant and the other
end to the Teach Pendant connection on the robot.
2.3. Connect the power cord of the robot to the power socket on the robot. Be sure to
use the correct power cord and power source for the robot model you are using
(110 V or 220 V).
2.4. Tie back all cables and air lines so that they will not interfere with the robot‟s motion
when the robot is operating. Be sure that the cables and air lines do not restrict the
motion of the robot‟s head and the robot‟s table and make sure that they can not
become jammed as the robot moves through the work area.

1
The 300F and 400F robots are shipped from the factory with a shipping bracket installed. The shipping
bracket secures the worktable to the X/Z head to prevent movement and damage during shipment.
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SECTION 3: Teaching Overview

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1. Teaching Overview

A program consists of a series of instructions stored in the main memory unit. Each
instruction is stored in a numbered memory address. A memory address may record a
point location with an X, Y, and Z-axis value and point type or it may store an instruction,
which sets a parameter, such as a dispensing time or line speed.

When the program is executed, the robot will go through each memory address in
sequence and execute the instruction found there. If the memory address contains a point
location, the robot will move the X, Y, and Z axes to that location. Depending on the type
of point registered at that location, the robot may also perform other functions, such as
turn the dispenser on or off.

The most commonly used point types are Dispense Dot, Line Start, Line Passing, Arc
Point, and Line End.

To program the robot to dispense a „dot‟ of material, the dispensing tip must be jogged to
the desired XYZ location, then that location is registered as a DISPENSE DOT point type
by pressing the appropriate keys on the Teach Pendant.

Dispense Dot

To program the robot to dispense a bead of material along a linear path, the XYZ location
of the start of the line is registered as a LINE START point type. The locations where the
tip changes direction are registered as LINE PASSING points. The end of the line is
registered as a LINE END point:

The LINE START has already included DISPENSE ON function and the LINE END has
already included DISPENSE OFF function.

Line Line
Passing Passing

Line Start
Line End

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To dispense a bead of material in an arc, the XYZ location of the start of the line is
registered as a LINE START point type. The high point of the arc is registered as an ARC
POINT. The end of the arc is registered as a LINE END point:

Arc Point

Line Start Line End

Lines and arcs can also be combined to dispense a bead of material along a complex path:
You cannot have 2 consecutive arc points in a program

Arc Point Line Passing

Line Passing

Arc Point

Line Start Line End

Once the required point locations for your program have been taught, the teach pendant is
no longer required. The unit can be switched to RUN mode and operated using the
buttons and switches on the main unit control panel.

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2. Using the Teach Pendant

The teach pendant enables the user to jog robot to input program data.

If Shift is pressed,
released, then the
Speed key is
pressed, Speed
Setup is executed.

If this key is
pressed alone,
Setup is executed.

When entering
numbers, this key is
0.

2.1 Key Selection

There are several functions assigned to most keys on the Teach pendant. When a key is
pressed alone, the function shown in the dark grey colored area on the key is executed.
For example, Ins, Del, Jump, Clear and Esc are the default key functions, which are
executed when that key is pressed alone.

To access the function shown in the light grey area at the top of a key, press and release
the Shift key first (the LED on the Shift key will be flashing), then press the desired key.
For example, to select the Speed function, press and release Shift, then press the Speed
key.

When a number is required, the teach pendant will automatically switch to numeric entry
mode. The number represented by each key is shown in the lower right corner of the key.

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2.2 Key Assignments

Key
Moves backward Changes the Inserts a memory address
(1) memory display to before the current address.
address. memory address
number 1.
Moves forward (1) Changes the
memory address. display to the last
Deletes the current memory
memory address
address.
used in the
program.
Moves the tip to the Jumps to a Clears / erases the numeric
point location specified memory value currently shown in the
currently in the address display.
display.
Adjusts the tips To run the Homes the robot. Initializes
position after a program all axes and moves the
barrel change head to the position (0, 0,
0).
(Enter)–used to If pressed once, clears the current numeric value.
confirm data If pressed twice, cancels the current function.
entries. If a program is running, cancels the running program.
Opens the Point Changes from Point List display mode to Single Point
registration menu. display when teaching point data.

Jog Keys
Jogs the Y-axis in Jogs the X-axis in Jogs the Z-axis DOWN.
the forward the right direction.
direction.
Jogs the Y-axis in Jogs the X-axis in Jogs the Z-axis UP.
the backward the left direction.
direction.
Accelerates jog speed – used with X+, X-. Y+, Y-, Z Up, Z Down
If the FAST button is pressed and held first, then one of the jog buttons is
pressed, the axis will be jogged at the maximum jog speed.
If one of the jog buttons is pressed first, then the FAST button is pressed, the jog
motion will accelerate.
If the FAST button is released, the jog motion will decelerate.

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Key Function
Registers a DISPENSE Registers a LINE START
→ DOT point. → point.
Registers a LINE Registers a LINE END
→ PASSING point. → point.
Registers a Line Speed
Registers an ARC POINT.
→ → command.
Registers a Point
Registers a Line Dispense
Dispense Setup
→ → Setup command.
command.
Registers the End
Redo
→ Program command. →
Registers a Z Clearance
Undo
→ → command.

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3. Point Type & Function Summary

3.1 F1 Menu
Below is a list of Point Types, which are found under the Enter or F1 key (F1 Menu):

Function Description

Registers the current XYZ location as a Dispense point for

Dispense Dot
dot dispensing.

Registers the current XYZ location as a Line Start point for

Line Start line dispensing.
This function is also included DISPENSE ON function

Registers the current XYZ location as a Line Passing point.

Line Passing This is a location on the line where the tip changes direction,
such as at the corner on a rectangle.

Registers a circle with the circle center at the current XYZ

Circle location. The display will prompt the user for the circle
diameter.

Registers the current XYZ location as an Arc point. Arc

Arc Point
points are used to dispense material in an arc or circle.

Registers the current XYZ location as a Line End point.

Line End
This function also included DISPENSE OFF function

Registers the current memory address as the end of the

End Program
program.

Registers an instruction which turns the dispenser on or off

Dispense On / Off
at the current XYZ location.

Causes the program to jump to the specified memory

GOTO Address
address.

Registers an instruction that will re-run a selected group of

memory addresses, stepping by a user-defined distance in
the X or Y-axis after each copy. The matrix of parts is defined
by specifying the number of rows, the number of columns,
the X offset and the Y offset.
Step & Repeat
Step & Repeat X indicates that the robot will give priority to
the X-axis, running the parts along the X-axis first.

Step & Repeat Y indicates that the robot will give priority to
the Y-axis, running the parts along the Y-axis first.

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Function Description

Causes the tip to „paint‟ the defined area. The painted area
Brush Area
can be in the form of a rectangle or a circle / spiral.

Causes the machine to jump to a specified memory address

and execute the instructions found there. When the end
Call Subroutine
program instruction is reached, program execution will
continue at address just after the call Subroutine instruction.

Jumps to the specified program number from within the

Call Program
current program.

Registers an instruction, which either sets the value of an

Set I/O
output signal or checks the status of an input signal.

After executing the current point (Line start, passing, etc) the
Wait Point robot will wait a specified amount of time before moving to
the next command.

After executing the current point (Line start, passing, etc),

Stop Point the robot will wait until the start button is pressed before
moving to the next command.

Registers an instruction to „home‟ all axes, sending them to

Home Point the home position. See the F4 Menu for instructions on
changing the location of the home position.

Causes the program to execute a group of memory

Loop Address
addresses a user-specified number of times.

Registers the current XYZ location as a Dummy point. The

Dummy Point tip will simply pass through this point. Useful for avoiding
obstacles on the work piece.

Registers an Initialize point. Causes the robot to perform a

Initialize
mechanical initialization.

Registers a label that can be used as a reference when used

Label with the GOTO address, Loop address, Set I/O, Step &
repeat X, Step & repeat Y and Call Subroutine commands.

Shows a counter at the bottom of the teach pendant screen

Display Counter
while a program is running.

Loop Counter To setup the “Loop Counter” to “Keep” or “Clear”

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Registers the current memory address as the end of the

“Stadium” path setting:
Line Start Line Passing

Line End 1 1 2

Line End 1

Register the assigned output port (0 – 8) ON or OFF

Dispense Output
controlled by LINE START and LINE END (same as
Setup
dispenser port)

3.2 F2 Menu
Below is a list of functions, which are found under the F2 key (F2 Menu):

Function Description
Allows a function to be applied to a user-defined group
of memory addresses. Functions include copy, delete,
Group Edit
move, multiply line speed, multiply dispense times,
apply X Offset, apply Y Offset, apply Z Offset
Expands the memory address locations which would
be performed at a Step & Repeat instruction so
Expand Step & Repeat
individual memory addresses of the repeated
instructions can be edited

Allows the user to register a name for the current

Program Name
program number

Sets the MAXIMUM Z-axis value (the lowest tip

Z-axis Limit (mm) position). Once the Z-axis limit is set, the robot will
prevent the tip from jogging below the set location.

Sets the status of the output signals when the machine

Initial Output Port
is initialized
Opens the Utility Menu. See SECTION 3:3.3 Utility
Utility Menu
Menu

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Function Description
Allows the user to set the tip jog speed for teach mode:
Jog Speed
Low, Middle or High jog speed can be selected.
Adjust Position See Section 3 Chapter 2.9 “Adjust Position Setup”
Control by RS232 Allows the robot to be controlled via the RS232 port

3.3 Utility Menu

Below is a list of functions, which are found under F2 Menu -> Utility Menu:

Function Description
Opens the Program utility menu. Allows programs to
Program
be copied, backed up, restored, or cleared.
Opens the Memory utility menu. Allows the robot
Memory
memory to be backed up, restored, or cleared.
Opens the Teach Pendant utility menu. Allows the
Teach Pendant current program to be copied to the Teach Pendant for
transferring to another robot.

Allows the position of a program to be corrected using

Relocate Data two reference points. Corrects for X offset, Y offset and
angle of rotation.

Locks or unlocks a program to enable or disable

Lock Program
program editing

Allows the password to be set or reset for the current

Password Setup program. Protects the program from unauthorized
editing.

Enabling Key Beep to produce a beep every time a

Key Beep
key in the Teach Pendant is touched.
Testing the Robot Sensor, Panel Connector, Input
Test Function
Output signal, Teach Pendant and Motor.

Clear Teach Pendant Data Clear the program stored in the teach pendant

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3.4 F3 Menu
Below is a list of functions, which are found under the F3 key (F3 Menu):

Function Description
Allows the tip to be positioned numerically by entering a
Numerical Move
number for the X, Y and Z values.
Saves the current XYZ position in a temporary memory
Save Temp Point
area numbered 1 – 9.
Retrieves a XYZ position, which was stored with Save
Move To Temp Point
Temp Point.

Cancels the last change to the program. Returns to the

Undo Program
program state prior to the last change.

Restores the last change to the program, which was

Redo Program
canceled with Undo.
Runs the program in Debug mode starting at the current
Debug Program
point location.
Causes the tip to move to the home position. The default
Move To Home Position
home position is X=0, Y=0, Z=0
Displays system information, including software version
System Information
number, work area size and control board version
Execute Point Runs a selected command.

Displays the program list with program number and

Program Name List
program name

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3.5 F4 Menu
Below is a list of functions, which are found under the F4 key (F4 Menu):

Function Description
Registers the LINE SPEED used for all lines from the
Line Speed current memory address forward until another Line
Speed instruction is found.
Registers the LINE DISPENSE SETUP values which
sets dispensing wait time at the start of lines („head‟
time), wait time at the passing points („Node‟ time) and
Line Dispense Setup waiting time at the end of lines („tail‟ time). The
registered values will be used from the current memory
address forward until another Line Dispense Setup
instruction is found.
Registers POINT DISPENSE SETUP values, which sets
dispensing time and waiting time at the end of
Point Dispense Setup dispensing („tail‟ time) for dots. The registered values will
be used from the current memory address forward until
another POINT DISPENSE SETUP instruction is found.
Registers the height and speed the tip should raise at
the end of dispensing. The registered values will be
Dispense End Setup
used from the current memory address forward until
another DISPENSE END SETUP instruction is found.
Registers the addition distance the tip should rise,
beyond the height set in Dispense End Setup, to allow
Z Clearance obstacles to be cleared as the tip moves from one figure
to another. Values will be used until another Z Clearance
instruction is found.
Sets the movement speed of the X and Y axes when
XY Move Speed
moving from one figure to another in the program

Sets the movement speed of the Z-axis when moving

Z Move Speed
from one figure to another in the program

Changes the position the robot moves to at the end of a

Home Position Setup
program cycle.

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Function Description

Registers the current XYZ location as the Adjust

Position. This reference point can later be used to
Adjust Position Setup
correct the program location after the dispensing tip has
been changed.

Registers Retract values at the current XYZ location.

Retract Setup Retract causes the tip to move up and back over the
dispensed bead after line dispensing.

Causes the robot to move very fast from one point to

Quickstep
another reducing the time of the dispensing cycle.

Automatically purges the system at the end of the

Auto Purge Setup
program.
After receiving the emergency stop signal, ESTOP
ESTOP Output Status Output Status can modify the status of all the outputs or
leave them as before receiving the emergency signal.
Acceleration Parameter that controls the robot‟s acceleration
Sets the position to which the tip moves after pressing
the Start button. The tip can go to the Home position or
Pause Status
will stay at the position where the Start button was
pressed.
Language Opens MENU for selecting the Language
Allows the user to set the tip jog speed for teach mode:
Jog Speed
Low, Middle or High jog speed can be selected.

Debug Speed (mm/s) Sets the speed used when running in Debug mode.

Adjust Origin See Section 2.9 “Adjust Position Setup”

To setup the move up shape of Z-axis. “Triangle Shape”
Quickstep Path or “Normal Shape”
Need to use with function “Quickstep”.
Allows the operator to upload or download
USB Up/Down Load
program/programs and software updates.
Circle Delay Time allows the robot to stop at the end of
Circle Delay Time a circle and allow excess material to be removed before
the robot carries to the next point.

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3.6 Function Summary

Page 1 Page 2
1. Dispense Dot 1. Dispense On/Off
2. Line Start 2. Goto Address
3. Line Passing 3. Step & Repeat
4. Circle 4. Brush Area
5. Arc Point 5. Call Subroutine
6. Line End 6. Call Program
F1 7. End Program 7. Set I/O
Enter Page 3 Page 4
1. Wait Point 1. Display Count
2. Stop Point 2. Loop Count
3. Home Point 3. Line End1
4. Loop Addrsss 4. Dispense Output Setup
5. Dummy Point 5. Needle Adjustment
6. Initialize 6. Needle Adjustment Count
7. Label 7. Arc Dispense Setup
Page 1 6.1 Program
1. Group Edit 6.2 Memory
2. Ex. Step & Repeat 6.3 Teach Pendant
3. Program Name 6.4 Relocate Data
F2 4. Z Axis Limit (100) 6.5 Lock Program
5. Initial Output Port 6.6 Password Setup
6. Utility Menu 6.7 Key Beep
7. Control By RS232 1. 1. Test Function
2. Clear Teach Pendant Data
Page 1 Page 2
1. Numerical Move 1. System Information
2. Save Temp Point 2. Execute Point
3. Move To Temp Point 3. Program List
F3
4. Undo Program
5. Redo Program
6. Debug Program
7. Move To Home position
Page 1 Page 2
1. Line Speed 1. Home Position Setup
2. Line Dispense Setup 2. Adjust Position Setup
3. Point Dispense Setup 3. Retract Setup
4. Dispense End Setup 4. Quickstep
5. Z Clearance 5. Auto Purge Setup
6. XY Move Speed 6. ESTOP Output Status
7. Z Move Speed 7. Acceleration
F4
Page 3 Page 4
1. Pause Status 1. Circle Delay Time
2. Language 2. Initialize Setup
3. Jog Speed 3. Teach Needle Adjustment
4. Debug Speed (10) 4. Needle Adjustment Setup
5. Adjust Origin
6. Quickstep Path
7. USB Up/Down Load

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SECTION 4: Programming Example

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1. Programming Example

To help you become familiar with programming the robot, please follow the instructions
below to create a program, which dispenses in the following pattern (White Path):

Point 3: Line Passing Point 4: Line Passing

Point 2: Arc Point Point 5: Arc Point

Point 1: Line Start Point 6: Line Passing

Point 13: Line En Point 14: Dispense Dot Point 15: Dispense Dot

Point 16: Dispense Dot Point 17: Dispense Dot Point 7: Line Passing
Point 12: Line Passing

Point 11: Arc Point Point 8: Arc Point

Point 10: Line Passing Point 9: Line Passing

Notes:

 We will create the above program in program # 5.

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

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

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Instruction Display Shows

Follow the instructions found in SECTION 2:2.

1
Setup to setup the robot.

[MACHINE HOME]
Select program 5 using the program number
+------------+
2 selection switches on the main unit control panel.
| START/HOME |
Turn the power on. +------------+

ADDR:1 PROG:5
Press the START button. The robot will move to EMPTY
3
the home position.
X:0.00 Y:0.00 Z:0.00
Line Speed Setup
----------------
4 Press the + to register a line speed Speed:
of 50 mm/second at memory address number 1.
unit: mm/sec
ADDR:2 PROG:5
The robot is now waiting for the speed to be
EMPTY
5 registered. Press 50 then ENTER to register a
speed of 50 mm / second.
The display shows we are at memory address 2
and that it is empty.

Jog the dispensing tip to the first location in the

diagram above (1: Line Start).
6
To jog the X and Y-axes, press the arrow keys
X,  X, Y and Y.
To jog the Z-axis, press the Z and Z keys.

Press and hold the FAST key to jog fast.

Once the tip is at the correct X, Y, Z location for
the first point (1:Line Start), press the
ADDR:3 PROG:5
EMPTY
7 +
to register the location as a Line Start point.
P.S.: No need to set “Dispense ON” since “Line
Start” has already included this function

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Instruction Display Shows

The display will show we are at memory address ADDR:4 PROG:5
3 and it is empty. Jog the tip to the X, Y, Z EMPTY
location of the second point (2: Arc Point).
8
When the location is correct, press the

+
to register the location as a Line Passing point.
Now jog the tip to the location of the third point
(3: Line Passing). When the location is correct, ADDR:5 PROG:5
EMPTY
9
press the +
to register the location as an Arc point.
Jog the tip to the location of the fourth point
(4: Line Passing). When the location is correct, ADDR:6 PROG:5
EMPTY
10
press the +
to register the location as a Line Passing point.
Repeat the step 8 – 10 to register the point 5 to
11
12
Jog the tip to the location of the thirteenth point
(13: Line End). When the location is correct, ADDR:15 PROG:5
EMPTY
12
press the +
to register the location as a Line End point.
The line is now complete. The next step is to Point Dispense Setup
register the dispense settings for the dots. --------------------
13 Dis. Time:
Press the + Tail Time:
to register the dot dispensing time. unit: sec
Type 1.5 to register a dispensing time of 1.5 ADDR:16 PROG:5
seconds, then press ENTER. EMPTY
14
Type 0.2 to register a waiting time after
dispensing of 0.2 seconds, then press ENTER.
Jog the tip to the location of first dispense dot
(14: Dispense Dot). When the location is correct, ADDR:17 PROG:5
EMPTY
15
press the +
to register the location as a Dispense Dot.
Jog the tip to the location of second dispense dot
(15: Dispense Dot). When the location is correct, ADDR:18 PROG:5
EMPTY
16
press the +
to register the location as a Dispense Dot.

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Instruction Display Shows

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

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2. Good Programming Practices

It is recommended to register the setup commands at the beginning of every program.

The following setup commands are the most commonly used:

 Dispense End Setup

 Point Dispense Setup
 Line Dispense Setup
 Line Speed
 Z Clearance
 Retract Setup
 Adjust Position Setup

For a complete list and description of all the different setup commands, refer to SECTION
3:4.5 F4 Menu and SECTION 5:2 F4 Menu.

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3. Editing a Program

You can move through the instructions in an existing program by using the following keys:

Key Function
Moves forward (1) memory address

Moves backward (1) memory address

Moves to the first memory address in the program

Moves to the last programmed memory address in the program

Moves the tip to the XYZ point location of the selected point

Jumps to display the specified memory address

3.1 Changing a Point’s XYZ location

To change the XYZ location of a point, press the or key until the point you
want to change is shown in the display.

You can confirm that the correct point is in the display by pressing the key. This will
cause the tip to move to the XYZ position shown in the display.

Now use the jog keys (X,  X, Y and Y) and the Z / Z keys to jog the tip to the
new location.

Once the location is correct, simply re-register the point as you did when it was first taught,

by pressing the key and selecting the point type. The point will be re-registered at
the new location.

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3.2 Insert / Delete an Instruction

 To insert an instruction, press the key. The point currently shown in the
display will be moved forward one memory address. A new, empty memory address
will be inserted at the current memory address.

 To delete the instruction currently shown in the display, press the key, and
then press the (W+) (Yes) key.

4. Changing the Program Number

The program number is selected by the program number selection switches on the main
unit‟s control panel.

Press the + and – buttons to select the program number.

Note: Program 99 is designed for “autorun” on Run mode. When starting the robot with
this program, the robot starts automatically without pressing the Start/Home key for
initialization.

5. Changing from Teach Mode to Run Mode

To change from Teach mode to Run mode, change the position of the mode switch on the
main unit‟s control panel.

When the machine is in Run mode, the teaching box (teach pendant) is not required.
Programs can be selected and run using the switches on the front control panel of the
main unit.

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SECTION 5: Function reference

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1. F1 (Point Menu)

Below is a list of functions which are found under the ENTER key. These functions are
„point-type‟ functions, meaning that the values applied will occupy one memory address.

1.1 Dispense Dot

Registers the current XYZ location as a dispense point for dot dispensing.

The dispense time and wait time must be set in a previous memory address by registering
a Point Dispense Setup instruction.

The upward motion of the tip after dispensing can be controlled by registering a Dispense
End Setup instruction and / or a Z Clearance instruction in a previous memory address.

Dispense End Setup and Z Clearance instructions are registered using the SETUP key.

See also SECTION 5:5.3 Point Dispense Setup, SECTION 5:5.4 Dispense End Setup
and SECTION 5:5.5 Z Clearance.

1.2 Line Start

Registers the current XYZ location as a Line Start point for line dispensing.

The line speed must be set in a previous memory address by registering a Line Speed
instruction using the SETUP key.

Dispense delay times used at Line Start and Line End points can be controlled by
registering a Line Dispense Setup instruction in a previous memory address. The Line
Dispense Setup instruction is registered by pressing the SETUP key.

See also SECTION 5:5.1 Line Speed and SECTION 5:5.2 Line Dispense Setup.

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1.3 Line Passing

Registers the current XYZ location as a Line Passing point. This is a location on the line
where the tip changes direction, such as at the corner on a rectangle.

Also use a Line passing point before and after an Arc Point instruction.

1.4 Circle

Two ways to dispense a circle，Type I(W-): Using 3 points to form a circle

Type II(W+): Using radius to make a circle

Type I：Move the tip to register the XYZ coordinates of the 3 passing points. It will
complete the circle after calculation.
Type II：Registers the XYZ coordinates of the center point and the radius of the circle. It
will complete the circle after calculation.
Registers a circle, where the circle‟s center is at the current XYZ location. To register a
circle, jog the tip to the circle‟s center and press ENTER, and then press the key 4 (for
circle). The display will prompt you to type the following data:

Radius: Type the radius of the circle and press ENTER.

Over Angle: (The value is from 1~360). After dispensing the circle, while going through an
extra part of the circle defined by the Over Angle, the dispenser will be
turned OFF.
Z Lift: 1. Yes 2. No
Selection: If you want the Z-axis (tip) to lift while going through the Over Angle, you
must select 1. Otherwise: select 2.

The speed must be set in a previous memory address by registering a Line Speed
instruction using the SETUP key.

Dispense delay times used at the start of the circle and at the end of the circle can be
controlled by registering a Line Dispense Setup instruction in a previous memory
address. The Line Dispense Setup instruction is registered by pressing the SETUP key.

See also SECTION 5:5.1 Line Speed and SECTION 5:5.2 Line Dispense Setup.

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The upward motion of the tip after dispensing can be controlled by registering a Dispense
End Setup instruction and / or a Z Clearance instruction in a previous memory address.

Dispense End Setup and Z Clearance instructions are registered using the SETUP key.

See also SECTION 5:5.4 Dispense End Setup and SECTION 5:5.5 Z Clearance.

1.5 Arc Point

Registers the current XYZ location as an Arc Point. Arc points are used to dispense
material along an arc or circular path.

See SECTION 4: Programming Example, for an example of the use of an Arc point.

1.6 Line End

Registers the current XYZ location as a Line End point.

The dispense delay time used at the end of the line can be controlled by registering a Line
Dispense Setup instruction in a previous memory address. The Line Dispense Setup
instruction is registered by pressing the SETUP key.

See also SECTION 5:5.2 Line Dispense Setup.

The upward motion of the tip after dispensing can be controlled by registering a Dispense
End Setup instruction and / or a Z Clearance instruction in a previous memory address.

Dispense End Setup and Z Clearance instructions are registered using the SETUP key.

1.7 End Program

Registers the current memory address as the end of the program. The end program
instruction will cause the tip to return to the home position at the end of the program cycle.

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1.8 Dispense ON / OFF

The Dispense ON / OFF instruction will allow the user to program an instruction which will
turn the dispenser ON or OFF.

This is useful for turning the dispenser OFF before the end of a line to prevent excess
material at the line end.

Problem: Too much material at the end of the line

Solution: Turn the dispenser OFF before the end of the line

Turn Dispenser Off here Continue moving to end of line

To register a DISPENSE OFF instruction, jog the tip to the XYZ location where you want
the dispenser OFF, enter that location as a Line Passing point, then press the ENTER key
and select Dispense ON / OFF.

Press 1 to select Dispenser ON, or press 2 to select Dispenser OFF.

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1.9 GOTO Address

The GOTO Address function causes the program to jump to a specified memory address.

1.10 Step & Repeat X

Step & Repeat X allows a group of instructions to be run repeatedly, stepping a given
distance in the X-axis or Y-axis between each cycle.

Step & Repeat X is useful when a fixture is mounted on the robot, which holds many
identical work pieces aligned in rows and columns. The user needs only to create a
program for the first work piece in the fixture, and then use the Step & Repeat function to
dispense to the other work pieces.

The Step & Repeat function will allow the user to define the number of rows, the number
of columns, the X Offset between each part, and the Y Offset between each part.

If, for example, we have a program (number 20) which dispenses four dots of material on
a work piece:

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The program would consist of the following eight instructions:

Address Instruction

1 Dispense End Setup:

H.Speed = 100 mm/s, L.Speed = 15 mm/s, L.Length = 5mm
Z Clearance:
2
Relative 10 mm
3 Point Dispense Setup:
Disp.Time = 0.25 s Tail Time = 0.10 s

4 Dispense Point

5 Dispense Point

6 Dispense Point

7 Dispense Point

8 End Program

If a fixture is made which holds (12) work pieces, in four columns by three rows:

Y Offset
25 mm

X Offset
30 mm

A Step & Repeat X instruction can be used to repeat the program at the additional (11)
locations.

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The instruction at memory address 8 should be changed from End Program to Step &
Repeat X. To register a Step & Repeat X instruction at memory address 8, do the following:

Instruction Display Shows

Press the +1 or –1 keys until memory address 8 ADDR: 8 PROG: 20

1
is shown in the display End Program
Step & Repeat
Address, 8
Press the Enter key, and then press the X key ---------------------
2 to change to page 2. Select Step & Repeat by 1.X 2.Y,
pressing the key 3. Start Address,
Columns (X):
Rows (Y):
Step & Repeat
Address, 8
---------------------
Type 1 to select X direction, and then press 1.X 2.Y, 1
3
ENTER. Start Address,
Columns (X):
Rows (Y):
[F1] Address [F2]Label
The display will prompt you for the Start Addr:

The start address is the memory address of the Step & Repeat
first instruction, which is part of this Step & Address, 8
Repeat group. ---------------------
4 1.X 2.Y, 1
In our example, we want to repeat all instructions Start Address, 4
starting with memory address number 4. Columns (X):
Rows (Y):
Type 4 to specify memory address 4, and then
press ENTER.
Step & Repeat
Address, 8
---------------------
Type 4 to specify four columns, and then press
5 1.X 2.Y, 1
ENTER. Start Address, 4
Columns (X): 4
Rows (Y):

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Instruction Display Shows

Step & Repeat
Address, 8
---------------------
Type 3 to specify three rows, and then press
6 X Offset:
ENTER.
Y Offset:

Unit: mm
Step & Repeat
In the above example, the X Offset between Address, 8
parts is 30 mm. ---------------------
7 X Offset: 30
Type 30 to specify an X Offset of 30 mm, and Y Offset:
then press ENTER.
Unit: mm
Step & Repeat
In the above example, the Y Offset between
Address, 8
parts is 25 mm.
---------------------
8
1. S Path
Type 25 to specify 25 mm, and then press 2. N Path
ENTER. Select:
The display will prompt you to select 1. S Path or
2. N. Path.

Selecting S Path will cause the first row 1 to 4 to

be dispensed, then the second row 4 to 1, and
then the third row 1 to 4.
Addr: 9 Prog:20
9
Empty
Selecting N PATH will cause the first row 1 to 4
to be dispensed, then the second row 1 to 4, and
then the third row 1 to 4.

Press 1 to select S PATH, and then press

ENTER.
The program is now complete.

Press ENTER, and then select End Program to

mark address 9 as the new End Program
Addr: 10 Prog:20
10 instruction.
Empty
Press the 7 key then press ENTER.

Press RUN to run the program.

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The program will run in the following pattern and consists of the following instructions:

1 2 3 4

8 7 6 5

9 10 11 12

Address Instruction

1 Dispense End Setup:

H.Speed = 100 mm/s, L.Speed = 15 mm/s, L.Length = 5mm
Z Clearance:
2
Relative 10 mm
3 Point Dispense Setup:
Disp.Time = 0.25 s Tail Time = 0.10 s

4 Dispense Point

5 Dispense Point

6 Dispense Point

7 Dispense Point

8 Step & Repeat X:

Cols: 4, Rows: 3, X Off: 30mm, Y Off: 25mm, Addr. 4, S Path

9 End Program

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The previous example was done using S Path. The difference between S Path and N Path
is the order in which the pieces are run:

Step & Repeat X:

S PATH N PATH
1 2 3 4 1 2 3 4

8 7 6 5 5 6 7 8

9 10 11 12 9 10 11 12

1.11 Step & Repeat Y

Step & Repeat Y works just as Step & Repeat X does, with one difference: priority is given
to the Y-axis instead of the X-axis.

Step & Repeat Y - S PATH Step & Repeat Y - N PATH

1 6 7 12 1 4 7 10

2 5 8 11 2 5 8 11

3 4 9 10 3 6 9 12

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1.12 Brush Area

The Brush Area command causes the tip to „paint‟ a defined area.

There are six Brush Area types: Rectangle, Circle, Rectangle 1, Rectangle Band, Circle
Band and Circle1. The next pages provide a detailed description of all the Brush area
types.

To register a Brush Area command, follow the instructions below.

Instruction Display Shows

[POINT] 1/3
1 Dispense Dot
2 Line Start
1 Press ENTER to open the Point Menu
.
.
7 End Program
[POINT] 2/3
.
2 Press X, to go to page 2 .
4 Brush Area
.
Brush Area Setup
------------------
1.Rectangle 4.Rect Band
3 Press 4 to select Brush Area.
2.Circle 5.Circle Band
3.Rectangle 1 6. Circle 1
Select:
Brush Area Setup
------------------
1.Rectangle 4.Rect Band
Press the numeric key corresponding to
4 2.Circle 5.Circle Band
the brush area type then press ENTER 3.Rectangle 1 6.Circle 1
Width(mm):
Band(mm):
Type the width value and press ENTER.

Type the band value and press ENTER.

5

Width and band values will be explained

further in this section.

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1.12.1 Brush Area: Rectangle

Brush Area Rectangle causes the tip to „paint‟ the defined area by passing back and forth
along the X-axis, while moving the Y-axis a determined Brush Width distance after each
pass along the X-axis.

After registering the Brush Area Rectangle command, teach a Line Start point at the top
left corner of the area to be brushed and a Line End point at the bottom right corner of that
area (the tip will not dispense a straight line between these two points):

Line Start

Paint

Area

Line End

If, for example, a brush width of 5 mm was used, the tip will take the following path when
the program is run:

5 mm
5 mm
5 mm
5 mm

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1.12.2 Brush Area: Circle

Brush Area Circle causes the tip to „paint‟ the defined area by following a spiral path from
the outside limit of the circle to the center of the circle. It works in reverse of the Circle 1
function.

After registering the Brush Area Circle command, jog the tip to a point on the outside limit
of the circle to be brushed and register that location as a Line Start point. Then jog the tip
directly across to the center of the circle and register that location as a Line End point (the
tip will not dispense a straight line between these two points):

Paint
Line Start Line End

Area

If, for example, a brush width of 5 mm was used, the tip will take the following path when
the program is run:

Closed Circle: from Outside of the Circle to the Center Open Circle: from Center of the Circle to out

An open or closed option is also available for this function. Selecting the Closed option will
make a whole circle first before making the spiral. Selecting the Open option will make the
spiral without closing the outer circle.

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1.12.3 Brush Area: Rectangle 1

Brush Area Rectangle 1 causes the tip to „paint‟ the defined area by following a square
spiral path from the outside of the rectangle to the center.

After registering the Brush Area Rectangle 1 command, teach a Line Starting point at the
top left corner of the area to be brushed and a Line End point at the bottom right corner of
that area (the tip will not dispense a straight line between these two points):

Line Start

Paint

Area

Line End

If, for example, a brush width of 5 mm was used, the tip will take the following path when
the program is run:

5 mm
5mm

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1.12.4 Brush Area: Rect. Band

Brush Area Rect. Band causes the tip to „paint‟ a defined rectangular band area by
following a square spiral path from the outside of the rectangle to the center.

After registering the Brush Area Rect. Band command, teach a Line Start point at the top
left corner of the area to be brushed and a Line End point at the bottom right corner of that
area (the tip will not dispense a straight line between these two points):

Line Start

Line End

If, for example, a brush width of 5 mm and band of 10mm was used, the tip will take the
following path when the program is run:

Width 5mm Band 10mm

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1.12.5 Brush Area: Circle Band

Brush Area Circle Band causes the tip to „paint‟ a defined circular band area by following a
spiral path from the outside limit of the circle to the center of the circle.

After registering the Brush Area Circle Band command, jog the tip to a point on the outside
limit of the circle to be brushed and register that location as a Line Start point. Then jog the
tip directly across to the center of the circle and register that location as a Line End point
(the tip will not dispense a straight line between these two points):

Paint Area

Line Start Line End

If, for example, a brush width of 5 mm and Band of 15mm was used, the tip will take the
following path when the program is run:

Width = 5mm

Band=15mm

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1.12.6 Brush Area: Circle 1

Brush Area: Circle 1, causes the tip to „paint‟ the defined area by following a spiral path
from the center of the circle to the outside limit of the circle. It works in reverse of the
Circle function.

After registering the Brush Area Circle command, jog the tip to a point where you want to
register the center of the circle and register that location as a Line Start. Then jog the tip
directly across on the outside limit of the circle to be brushed and register that location as
a Line End point (the tip will not dispense a straight line between these two points):

Paint
Line End Line Start

Area

If, for example, a brush width of 5 mm was used, the tip will take the following path when
the program is run:

Closed Open

An open or closed option is also available for this function. Selecting the Closed option will
make a whole circle first before making the spiral. Selecting the Open option will make the
spiral without closing the outer circle.

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1.13 Call Subroutine

A subroutine is a set of instructions that are located after the End Program instruction.

Call Subroutine causes the machine to jump to a specified memory address and execute
the instructions found there using coordinates specified at the Call Subroutine instruction.
When the End Program instruction for the subroutine is reached, program execution will
continue at the address immediately after the Call Subroutine instruction.

The Call Subroutine function is most useful to repeat a pattern anywhere on the work-
piece, as opposed to the Step & Repeat function where the pattern must be repeated in
straight lines, at fixed distances from each other.

The following example illustrates the use of the Call Subroutine instruction. An
explanation follows.

Address Instruction
1 Line Speed = 20
2 Call Subroutine (X1,Y1,Z1) address 7
3 Call Subroutine (X2,Y2,Z2) address 7
4 Call Subroutine (X3,Y3,Z3) address 7
5 Call Subroutine (X4,Y4,Z4) address 7
6 End Program
7 Line Start (Xs,Ys,Zs)
8 Line End (Xe,Ye,Ze)
9 End Program

START
Add 2

X1,Y1,Z1

Add 3
Add 4
X2,Y2,Z2
X3,Y3,Z3

END
Add 5

X4,Y4,Z4

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Addresses 7 and 8 comprise the subroutine that will be executed whenever it is called
within the main program. The coordinates in the body of the subroutine
(Xs,Ys,Zs,Xe,Ye,Ze) are not important; the critical information is the relative position to
each other. The actual work will be performed on the coordinates in the main body of the
program.

Before using the Call Subroutine instruction, the tip must be jogged to the first point
where the user wants the work to occur. This point must correspond to the relative first
point defined in the subroutine.

1.14 Call Program

Call Program will jump to the specified program number and execute the program data in
the destination program until the End Program command is reached. When the destination
program is executed, the robot will return to the calling program.

1.15 Set I/O

Set I/O registers an instruction, which either sets the value of an output signal or checks
the status of an input signal.

When the Set I/O function is registered, the user is prompted to select 1. Input or 2.
Output.

If 1. Input is selected; the user can enter the input Port (input # 1 – 8), the input Status
(1/0) and the address to GOTO if that input status occurs. The input status is (0) when the
input pin is connected to ground. The input status is (1) if the input pin is disconnected.

If 2.Output is selected, the user can enter the output Port (output # 0 – 8), and whether
the output should be turned ON or OFF.

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1.16 Wait Point

Registers a Wait Point at the current X, Y, Z location. When executed, the tip will move to
that location and wait for the specified period of time.

Wait Point can only be implemented on RUN Mode.

1.17 Stop Point

Registers a Stop Point at the current X, Y, and Z location. When executed, the tip will
move to that location and wait until the start button is pressed.

1.18 Home Point

Registers an instruction to „HOME‟ all axes, by sending them to the home position. It
works like a “Move” command.

It works like an “End Program” function when registered at the end of the program. After
program completion, the dispensing tip moves to the home position. If used in the body of
the program, the tip is moved to the home position and the next instruction is executed.

This function uses the Home Position Setup coordinates (under F4 (Setup Menu)) if a new
home position is made. Otherwise, it uses the default home position (X=0, Y=0, Z=0).
See the Setup Menu for instructions on changing the location of the home position.

1.19 Loop Address

Registers an instruction, which will execute a group of instructions a user-specified

number of times.

When the Loop Address instruction is registered, the display will prompt for an Address
and Count.

Address is the memory address to jump to from the current address. This address must
be less than the current memory address.

Count is the number of times to execute the loop.

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1.20 Dummy Point

Registers the current XYZ location as a Dummy point. The tip will simply pass through this
point. A dummy point is useful for avoiding obstacles on the work piece.

1.21 Initialize

Registers an Initialize point causing the robot to perform a mechanical initialization. The tip
will home to position (0,0,0) and the robot will re-find the home position using the home
position sensors.

1.22 Label

Registers a label that can be used as a reference when used with the GOTO, Loop
address, Set I/O, Step & repeat X, Step & repeat Y and Call Subroutine commands.

Label can be used instead of Address number. A maximum of 64 labels is permitted per
program; each label can have up to 8 characters.

1.23 Display Counter

The Display Counter instruction shows a counter at the bottom of the teach pendant
screen while a program is running. Every time this instruction is executed, the counter
increases by one and is shown again on the screen. The counter begins at one (1).

1.24 Loop Counter

The Loop Counter either clears or keeps the current tally of the counter when an I/O signal
is received. The tally is cumulatively added to the current count on the display counter.

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1.25 Dispense Output Setup

Dispense Output Setup assigns the dispense output port number (0-8) for the line and dot
under control of the line dispense setup and point dispense setup. The default dispense
output port number is zero.

Programming Sample:
Address Instruction
1 Line Dispense Setup
Head Time: 0.1
Tail Time: 0.1
Node Time: 0
Tail Length: 0
2 Dispense Output: 3
3 Line Start
4 Line End
5 Line Dispense Setup
Head Time: 0.15
Tail Time: 0.1
Node Time: 0
Tail Length: 0
6 Dispense Output: 2
7 Line Start
8 Line End
9 Point Dispense Setup
Head time: 0.1
Tail time: 0.1
10 Dispense output: 1
11 Dispense Dot
12 Dispense Dot
End Program

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2. F2 (Menu 1)

2.1 Group Edit

Group Edit is a powerful utility, which allows several different functions to be applied to a
user-defined group of addresses. These functions include copy, delete, move, multiply line
speed, multiply dispense times, apply X Offset, apply Y Offset, and apply Z Offset.

2.1.1 Copy

For example, to use group edit to copy addresses 1 – 20 in the current program to
memory address 21 - 40:

Instruction Display Shows

Press the F2 (MENU 1) key, then 1 to select

GROUP EDIT
Group Edit.
FROM: 1
The display will prompt the user to enter the
1 TO: 1
starting memory address of the group to edit
(1 <-> 4000)
(From) and the ending number of the group to F1: All F2: End
edit (To).
GROUP EDIT
ADDR: 1-20
------------------------
Type 1 then press ENTER to register 1 in From.
1.Copy 5.Dispense Time
2
2.Delete 6.Offset
Type 20 then press ENTER to register 20 in To.
3.Move 7.Offset (R.E)
4.Line Speed
Select:
The Group Edit menu will then appear, allowing GROUP COPY
the user to select an operation to be applied to ------------------------
3
the range of points. SOURCE 1-20
Press 1 to select Copy. Then press ENTER. Destination:
The display will prompt the user to type the
GROUP COPY
destination memory address where the data will
SOURCE 1-20
be copied.
4 Destination: 21
Press the Clear key to erase the old value, then
1.Yes 2.No
type 21 and press ENTER to select destination Select:
memory address number 21.
The display will now prompt the user to confirm
5 the copy. Press 1 and then press ENTER to
select Yes and perform the copy.

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2.1.2 Delete

To use group edit to delete addresses 15 – 25 in the current program:

Instruction Display Shows

Press the F2 (MENU 1) key, then 1 to select

Group Edit. GROUP EDIT
FROM: 1
1 The display will prompt the user to enter the TO: 1
starting memory address of the group to edit (1 <-> 4000)
(From) and the ending number of the group to F1: All F2: End
edit (To).

GROUP EDIT
ADDR: 15-25
Type 15 then press ENTER to register 15 in ----------------------
From. 1.Copy 5.Dispense Time
2
2.Delete 6.Offset
Type 25 then press ENTER to register 25 in To. 3.Move 7.Offset (R.E)
4.Line Speed
Select:
GROUP DELETE
The Group Edit menu will then appear, allowing ADDR: 15-25
the user to select an operation to be applied to ------------------------
3 the range of points. 1. Yes
2. No
Press 2 to select Delete. Then press ENTER
Select:

The display will now prompt the user to confirm

the deletion.
4
Press 1 and then press ENTER to select Yes and
delete the data.

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2.1.3 Move

To use group edit to move addresses 10 – 20 in the current program to memory

addresses 50 – 60:

Instruction Display Shows

Press the F2 (MENU 1) key, then 1 to select

Group Edit. GROUP EDIT
FROM: 1
1 The display will prompt the user to enter the TO: 1
starting memory address of the group to edit (1 <-> 4000)
(From) and the ending number of the group to F1: All F2: End
edit (To).
GROUP EDIT
ADDR: 10-20
Type 10 then press ENTER to register 10 in ------------------------
From. 1.Copy 5.Dispense Time
2
2.Delete 6.Offset
Type 20 then press ENTER to register 20 in To. 3.Move 7.Offset (R.E)
4.Line Speed
Select:
The Group Edit menu will then appear, allowing GROUP MOVE
the user to select an operation to be applied to ------------------------
3 the range of points. SOURCE 10-20
Destination:
Press 3 to select Move. Then press ENTER
The display will prompt the user to type the
GROUP MOVE
destination memory address where the data will
SOURCE 10-20
be moved.
Destination:
4
50
Press the Clear key to erase the old value, then
1.Yes 2.No
type 50 and press ENTER to select destination Select:
memory address number 50.
The display will now prompt the user to confirm
5 the move. Press 1 and then press ENTER to
select Yes and move the data.

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2.1.4 Line SP (Line Speed)

To use group edit to increase all of the line speed commands in memory address range
1 – 200 by 20 %:

Instruction Display Shows

Press the F2 (MENU 1) key, then 1 to select

Group Edit. GROUP EDIT
FROM: 1
1 The display will prompt the user to enter the TO: 1
starting memory address of the group to edit (1 <-> 4000)
(From) and the ending number of the group to F1: All F2: End
edit (To).
GROUP EDIT
ADDR: 1-200
----------------------
Type 1 then press ENTER to register 1 in From.
1.Copy 5.Dispense Time
2
2.Delete 6.Offset
Type 200 then press ENTER to register 200 in To.
3.Move 7.Offset (R.E)
4.Line Speed
Select:
GROUP LINE SPEED
The Group Edit menu will then appear, allowing
ADDR: 1-200
the user to select an operation to be applied to the
------------------------
3 range of points.
Multiple Value:
Press 4 to select Line Speed. Then press ENTER.

The display will prompt the user to type the GROUP LINE SPEED
Multiple Value to be applied to the line speeds. ADDR: 1-200
------------------------
For example, a value of 1.2 will increase all Multiple Value:
4 speeds by 20%. A value of 0.8 will decrease all 1.2
speeds by 20%. 1.Yes
2.No
Type 1.2 and press ENTER to select a multiplier
of 1.2. Select:

The display will now prompt the user to confirm

the change. Press 1 to select Yes. Then press
ENTER
5

All of the line speed instructions in the select

range of points will now be multiplied by 1.2.

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2.1.5 Dispense Time

To use group edit to increase all of the dispensing times (Point Dispense Setup) in
memory address range 1 – 200 by 15%:

Instruction Display Shows

Press the F2 (MENU 1) key, then 1 to select

Group Edit. GROUP EDIT
FROM: 1
1 The display will prompt the user to enter the TO: 1
starting memory address of the group to edit (1 <-> 4000)
(From) and the ending number of the group to F1: All F2: End
edit (To).
GROUP EDIT
ADDR: 1-200
------------------------
Type 1 then press ENTER to register 1 in From.
1.Copy 5.Dispense Time
2
2.Delete 6.Offset
Type 200 then press ENTER to register 200 in To. 3.Move 7.Offset (R.E)
4.Line Speed
Select:
The Group Edit menu will then appear, allowing GROUP DISPENSE TIME
the user to select an operation to be applied to the ADDR: 1-200
range of points. ------------------------
3
Multiple Value:
Press 5 to select Dispense Time. Then press
ENTER.
The display will prompt the user to type the
GROUP DISPENSE TIME
Multiple Value to be applied to the dispense times.
ADDR: 1-200
------------------------
For example, a value of 1.15 will increase all
Multiple Value:
4 dispense times by 15%. A value of 0.85 will
1.15
decrease all dispense times by 15%. 1.Yes
2.No
Type 1.15 and press ENTER to select a multiplier Select:
of 1.15.
The display will now prompt the user to confirm
the change. Press 1 to select Yes. Then press
ENTER.
5
All of the Point Dispense Setup instructions in the
select range of points will now be multiplied by
1.15.

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2.1.6 Offset

The Offset function allows all XYZ locations in a program to be shifted in the X, Y, or Z-
axis by a user-defined distance.

To use group edit to add 15 mm to all X-axis values in memory address range 1 – 200:

Instruction Display Shows

Press the F2 (MENU 1) key, then 1 to select

Group Edit. GROUP EDIT
FROM: 1
1 The display will prompt the user to enter the TO: 1
starting memory address of the group to edit (1 <-> 4000)
(From) and the ending number of the group to F1: All F2: End
edit (To).
GROUP EDIT
ADDR:1-200
------------------------
Type 1 then press ENTER to register 1 in From.
1.Copy 5.Dispense Time
2
2.Delete 6. Offset
Type 200 then press ENTER to register 200 in To. 3.Move 7.Offset (R.E)
4.Line Speed
Select:
GROUP OFFSET
The Group Edit menu will then appear, allowing ADDR: 1-200
the user to select an operation to be applied to the ------------------------
3 range of points. X Offset:0
Y Offset:0
Press 6 to select Offset. Then press ENTER. Z Offset:0
Unit: mm
GROUP OFFSET
The display will prompt the user to type the X, Y,
ADDR: 1-200
and Z offset amounts to be added to all points in
------------------------
address range 1 – 200.
X Offset: 15
4
Y Offset:0
Type 15 and press ENTER to add 15 mm to the Z Offset:0
X-axis values. Press ENTER two more times to 1.Yes 2.No
leave the Y and Z offsets at zero. Select:
The display will now prompt the user to confirm
the change. Press 1 to select Yes. Then press
ENTER.
5

15 mm will be added to all of the X-axis values in

the selected range.

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2.1.7 Offset to

This function allows to be corrected automatically the offset problems which can appear
when changing the tip, the barrel and/or the item to be dispensed on.

Move the tip using the original coordinates stored in program memory with the MOVE
button. The next step is to jog the tip to the where it should be. The robot will realign all of
the data points with the original program.

Instruction Display Shows

Press Move key. The tip will move to the Line Start X:50
saved position that was recorded in the Y:10
current Address. Z:35
1
If the new tip location is slightly different from
the last tip location, you should see that the tip
is not exactly at the reference point. X: 50, Y: 10, Z: 35
Line Start X:50
Y:10
Jog the tip to the correct location for the
Z:35
2 reference point.

X: 50.3, Y: 10.5, Z: 35
Press the F2 (MENU 1) key, then 1 to select GROUP EDIT
Group Edit. The display will prompt the user to FROM:1
2 enter the starting memory address of the TO:1
group to edit (From) and the ending number of (1 <-> 4000)
the group to edit (To). F1:All F2:End
Type 1 then press ENTER to register 1 in
From. GROUP EDIT 1-200
Type 200 then press ENTER to register 200 in 1.Copy
To. 5.Dispen.Time
3 2.Delete 6.Offset
The Group Edit menu will then appear, 3.Move 7.Offset to
allowing the user to select an operation to be 4.Line Speed
applied to the range of points. Select:
Press 7 to select Offset to. Then press ENTER
The program origin will be adjusted for the
4 X:0.3, Y:0.5, Z:0.0
new tip location.

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2.2 Expand Step & Repeat

Expand Step & Repeat will expand a step and repeat instruction to the actual data it
represents. This can be useful in situations where the user must edit selected elements in
a Step & Repeat group, although an expanded Step & Repeat instruction will occupy more
memory space than an unexpanded instruction.
For example, if the following program was created:

Before:
1 2 3 4 Address Instruction
1 Dispense End Setup
2 Z Clearance
3 Point Dispense Setup
8 7 6 5
4 Dispense Point
5 Dispense Point
6 Dispense Point
9 10 11 12
7 Dispense Point
8 Step & Repeat X, Addr=4
9 End Program
The original program occupies 9 memory addresses.

If the user brings memory address number 8 into the display and then selects F2 (MENU
1), Expand Step & Repeat, address 8 will be expanded into the 44 points which it
represents, bringing the total number of memory addresses used to 51 (plus the End
Program instruction at address 52).
After:
1 2 3 4 Address Instruction
1 Dispense End Setup
2 Z Clearance
8 7 6 5 3 Point Dispense Setup
4 Dispense Point
5 Dispense Point
9 10 11 12 6 Dispense Point
7 Dispense Point
8 Dispense Point
9 Dispense Point
10 Dispense Point
. .
. .
. .
51 Dispense Point
52 End Program

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2.3 Program Name

Program Name allows the user to register a name for the current program. If a program
name is registered, it will appear on the display when that program is selected in Run
mode.

2.4 Z-axis Limit (mm)

Z-axis Limit allows the user to limit the range of the Z-axis.

Use the Z and Z keys to bring the Z-axis to the lowest point the Z-axis should be
allowed to travel (the highest Z-axis numeric value), then select F2 (Menu 1), 4. Z-axis
Limit. (mm)

The Z-axis range of motion will be limited to the current value.

2.5 Initial Output Port

Initial Output Port sets the ON/OFF status of the output signals at the start of each
program cycle.

Initial Output Port value is the decimal representation of an 8 binary bit values controlling
the 8 output signals.

For example,

Output Status
Decimal
(X = on, blank = OFF)
Value
#1 #2 #3 #4 #5 #6 #7 #8
0
1 X
2 X
4 X
8 X
16 X
32 X
64 X
128 X

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2.6 Debug Speed (mm/s)

Debug Speed allows the debug speed to be set. This speed is the speed at which the tip
will move when running in Debug mode.

2.7 Utility Menu

Opens the Utility Menu.

2.8 Jog Speed

The Jog Speed setting allows the user to select the jog speed for programming in Teach
mode. The Jog speed can be set to Low, Middle or High speed.

The default value is 2. Middle.

2.9 Adjust Origin

Allows the position of a program to be corrected using the reference points. Corrects: X
offset, Y offset. Please refer to Section 2.9 “Adjust Position Setup.”

2.10 Control by RS232

This command allows the robot to be controlled via the RS232 port. This is possible with
the Fisnar Windows software package Robot Edit feature.

To enable or disable this functionality, select F2 (Menu 1)  Control by RS232 and select
Enable or Disable.

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3. Utility Menu (within menu 1)

3.1 Program

Opens the program utility menu. The program utility menu includes four options:

Creates a backup of the current program in reserved backup location on

1. Backup the memory card. A separate backup location is reserved for each
program number.

Restores program data backed up with 1. Backup above. The current

2. Restore
program number data is restored.

3. Clear Erases data in the current program number.

4. Copy Copies the current program number to a different program number.

3.2 Memory

Opens the Memory utility menu. THE MASTER PASSWORD is 777.

Creates a backup of the entire memory contents - all program numbers.

1. Backup
The backup is written to a reserved location on the memory card.

Restores the entire contents of the robot memory backed up with 1.

2. Restore
Backup above.

Erases the entire contents of the robot memory. If Clear is selected, the
3. Clear
user will be prompted for a password.

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3.3 Teach Pendant

Opens the Teach Pendant utility menu. The Teach Pendant utility menu includes two
options:

1. Backup Copies the current program number data to the Teach Pendant.
Restores the contents of the Teach Pendant memory into the current
2. Restore
program number.

The above teach pendant utilities provide an easy method of moving program data from
one robot to another

3.4 Relocate Data

The Relocate Data function allows the position of a program to be corrected, including
correction for X offset, Y offset and angle of rotation.

If, for example, the work piece fixture has been changed, the program position can be
adjusted automatically for the new fixture.

The Relocate Data function requires two reference points for the calculations. Choose two
point locations from your program, which will be used as reference points. For example, to
relocate the program after a fixture change:

Instruction Display Shows

In this example, memory address 3 is the first

reference point and memory address 4 is the
second reference point.
1

Jog the tip to the new, correct position for the first
reference point.

Save temp point

Press the MENU 2 key, then select Save Temp --------------------------
2 Point to save the location. The display will Point (1-9):
prompt for the temporary point number to save.
Relocate Save To 1,2 Point

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Instruction Display Shows

Press 1 to save the first location in temporary

3
position #1. Then press ENTER

Jog the tip to the new, correct position for the

4
second reference point.

Save temp point

Press the MENU 2 key, then select Save Temp --------------------------
5 Point to save the location. The display will Point (1-9):
prompt for the temporary point number to save.
Relocate Save To 1,2 Point

Press 2 to save the second location in temporary

6
position #2. Then press ENTER

Relocate Data
--------------------------
Press F2 (Menu 1), then 7. Utility Menu, and 1.All Points
7
select Relocate Data. 2.Some Points
SELECT:

Relocate All Point

S1->
8 Press 1 to select All Points. Then press ENTER S2->

Type 3 and press ENTER to designate memory Relocate All Point

S1->3
9 address number 3 as reference point 1 (temp S2->
point #1).

Type 4 and press ENTER to designate memory Relocate All Point

S1->3
10 address number 4 as reference point 2 (temp
S2->4
point #2).

The program location will be adjusted for X

11
offset, Y offset and angle of rotation.

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3.5 Lock or Unlock Program

Lock or Unlock Program allows the user to protect a program from editing. If the program
is locked, the user will not be able to change any of the program data. Unlocking the
program will allow the data to be changed again.

3.6 Password Setup

Password Setup allows the password to be set or reset for the current program.

To set the password, select F2 (MENU 1), Utility Menu, and Password Setup. The user
will be prompted for a NEW PASSWORD. Type the new password and press ENTER.

If the password is left blank and ENTER is pressed, the password will be removed. After
changing or resetting the password, the robot power should be turned off.

The purpose of the password is to protect the program from unauthorized editing. The
user will not be allowed to enter TEACH mode unless the correct password is entered. If
the password is forgotten, the master password (777) can be used to gain access to the
program.

3.7 Cycle Counter

When in run mode, the first line of the display shows the number of program cycles, which
have run to completion for the current program number: [RUN MODE][X]

It is possible to reset this number by selecting F2 (MENU 1), Utility Menu, Cycle Counter.
When prompted for the New Data: press 0 and ENTER to reset the cycle counter.

It is also possible to cause an alarm to be generated after a fixed number of program

cycles. Select F2 (MENU 1), Utility Menu, Cycle Counter. When prompted for the New
Data: type the number of program cycles to complete before generating the alarm and
press ENTER.

In run mode, when the set number of program cycles has been completed, the display will
show Counter Full [Shif+Enter] and by pressing the shift+enter buttons the robot will be
disabled and you can run the program again.

3.8 Key Beep

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It allows you to turn on the key beep selecting the ENABLE option and it will turn off if the
DISABLE option is selected.

3.9 Test Function

The F4000N Series robots offer the convenience of the Test Function command.

The Test Function is a diagnostic command used for troubleshooting your robot easily
through the robot Teach Pendant.

Instructions

1) After initializing the robot, press the F2 button MENU 1 on the Teach Pendant.

2) Select Utility Menu (see below).

3) Select Test Function (see below).

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[F2 (Menu 1)] [Utility] 1/1

1/2 1) Key Beep
1) Group Edit 2)*Test Function
2) Ex. Step & Repeat
3) Program Name
4) Z Axis Limit (100)
5) Initial IO
6) Debug Speed (10)
7)*Utility Menu

F2 (Menu 1) >>> Utility Menu >>> Test

Function

Test Home Sensor Teach Pad Test

Move Table by Hand Press Key on Teachpad
---------------------------- ----------------------------
X: 0 0 SCANCODE:
Y: 0 0
Z: 0 0

Test Front Panel RS232 Test

Push the front panel button Cross RS232 Pin2 & Pin3
START BUTTON : 1 ----------------------------
TEACH BUTTON : 1 Send Char:
EMERGENCY STOP : 0
PROGRAM NUMBER : 1 !!! NO RESPONSE !!!

IO Test Motor Test

---------------------------- Table go & back (10mm)
IN: 1 1 1 1 1 1 1 1 1 ----------------------------
OUT: 0 0 0 0 0 0 0 0 0 1. X
Press Key 1~8 Set Output 2. Y
Press Key 9 Set Dispenser 3. Z

0. Home

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4. F3 (Menu 2)

4.1 Numerical Move

Allows the tip to be positioned numerically by entering a number for the X, Y and Z values.

4.2 Save Temp Point

Save Temp Point saves the current XYZ position in a temporary memory area numbered
(1 – 9). The save temp point function is also used with the Relocate Data function.

See SECTION 5: 3.4 Relocate Data.

4.3 Move To Temp Point

Move To Temp Point retrieves a XYZ position, which was stored with Save Temp Point.

4.4 Undo Program

Cancels the last change to the program. Returns to the program state prior to the last
change.

4.5 Redo Program

Re-does the last change to the program, which was canceled with Undo.

4.6 Debug Program

Runs the program in Debug mode, using the speed set in Debug Speed starting at the
current point location.

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4.7 Move To Home Position

Move To Home Position will move the tip to the home location using either the default
values (X=0, Y=0, Z=0) or the user-specified location defined in the Setup  Home
Position Setup command.

This command cannot be used as a program instruction. It can be used during program
editing to confirm the location of the home position.

4.8 System Information

System information will display the dispensing Software version currently installed in the
robot.

4.9 Execute Point

Execute Point will run a selected command. Use the –1 & +1 keys to locate the command
that you want to execute.

For example, if you select an address containing a circle, the Execute Point will cause the
tip to move in a circular path.

4.10 Program List

Program List allows the operator to see all programs previously written in the memory.

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5. F4 (Setup Menu)

Below is a list of functions, which are found under the SETUP key. These functions are all
related to the setup of dispensing parameters.

5.1 Line Speed

Registers the line speed used for all lines from the current memory address forward until
another Line Speed instruction is found.

5.2 Line Dispense Setup

When dispensing high viscosity materials, there is often a delay from the moment the
dispenser is turned on until the material begins to flow. The following parameters are set
under this function: Head Time, Tail Time, Node Time and Tail Length.

The Head Time setting is a delay time used at the start of line dispensing to prevent the
tip from moving along the line path until the material is flowing. The tip will move to the
start of the line, turn on the dispenser and wait for the time period specified in the head
time setting before moving. The time value can be adjusted to ensure that the material
begins flowing at the same time as the line movement begins.

At the end of dispensing, a delay is often required after the dispenser is turned off, to allow
the barrel pressure to equalize, before moving to the next point location. This prevents
material from being „spilled‟ where it is not wanted. This time delay at the end of
dispensing is called the Tail Time.

The Node Time parameter enters a wait time that only affects the Line Passing
command. Tip will pass through line passing point and will wait at line passing point with
the dispenser activated for the time specified in the Node Time.

Usually the material continues flowing after the dispenser is off, due to pressure built in
the system. Tail Length automatically turns off the dispenser at a user defined distance
before the end of a line, preventing excess of material to be deposited at the end of the
line.

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The value will be used for all lines from the current memory address forward until another
Tail Length instruction is found.

Dispenser Turns Off here Tip continues moving to end of line

Tail Length

Values for the Head Time and Tail Time used when performing line dispensing are
registered by pressing the SETUP key, then selecting Line Dispense Setup. The set
values will be used by all lines from that memory address forward until new set of Line
Dispense Setup values are found.

5.3 Point Dispense Setup

Registers POINT DISPENSE SETUP values which set dispensing time and waiting time at
the end of dispensing („tail‟ time) for dots. The registered values will be used from the
current memory address forward until another POINT DISPENSE SETUP instruction is
found.

5.4 Dispense End Setup

Dispense End Setup allows the L.Length, L. Speed and H. Speed values to be registered
at a memory address. These values will effect how far and how fast the tip rises after
dispensing.

After dispensing a dot or line, it is often required to raise the tip a short distance at a slow
speed. This allows the material to cleanly break free from the tip, without „dragging‟
material where it is not wanted.

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The distance and speed that the tip raises after dispensing is controlled by the L.Length
and L.Speed settings.

After the tip raises the length specified by L.Length at the speed specified by L.Speed,
the tip will continue rising to the Z Clearance height at the speed specified by H.Speed.

The purpose of specifying a Z Clearance height is to allow the tip to raise high enough to
clear any obstacles it may encounter on the way to the next point.

H. Speed 2: Tip continues rising to

Z Clearance height at H. Speed
Z Clearance

L. Length 1: After dispensing, the tip

rises to L .Length at L. Speed

Values for H.Speed, L.Speed and L. Length are registered with the Dispense End Setup
function by pressing the SETUP key, then choosing Dispense End Setup.

Once Dispense End Setup values have been registered at a memory address, all points
after that memory address will use the values specified. If Dispense End Setup values are
registered again, at a higher memory address, all points from that memory address
forward will use the new values.

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5.5 Z Clearance

The purpose of the Z Clearance function is to cause the tip to raise high enough to clear
all obstacles as it moves from one point to another. If there are no obstacles between any
of the program points, a small Z Clearance value, such as 5 mm, can be used to minimize
the program cycle time.

Values for the Z Clearance are registered by pressing the SETUP key, then choosing Z
Clearance. The Z Clearance value will be used by all points from that memory address
forward until another Z Clearance value is found. Normally, a Z clearance instruction
should be registered in the beginning of a program, at one of the first memory addresses.

The Z Clearance value may be specified as a relative value or an absolute value. When
specified as a relative value, it is the distance to rise relative to the taught point location.
When it is specified as an absolute value, it is a distance from the Z-axis zero position,
where the tip will rise to, regardless of the Z-axis value of the taught point location. For
example:

Z Clearance = 10 mm RELATIVE:

Z = 0 mm

10 mm 10 mm

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Z Clearance = 10 mm ABSOLUTE:
Z = 0 mm

10 mm

Z = 10 mm

Please see 錯誤 ! 找不到參照來源。錯誤 ! 找不到參照來源。 for an example of the Z

Clearance instruction.

5.6 X/Y Move Speed

X/Y Move Speed sets default X and Y-axis movement speed as the tip moves between
figures in a program, such as from one dispense point to another or from the end of line
dispensing to the next start of line dispensing.

5.7 Z Move Speed

Z Move Speed sets default Z-axis movement speed as the tip moves between figures in a
program, such as from one dispense point to another or from the end of line dispensing to
the next start of line dispensing.

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5.8 Home Position Setup

Home Position Setup allows the user to change the location of the program home position.
The home position is the location where the tip will move to at the end of a program cycle
if the “End Program” or “Home Point” instruction is registered. The default home position
is (X=0, Y=0, Z=0).

To change the home position, jog the tip to the desired location for the new home position,
then press Setup  Home Position Setup.

NOTE: When executing a program in TEACH MODE, the robot will move to the
mechanical home position (X=0, Y=0, Z=0) at the start of every program cycle. When
executing a program in RUN MODE, the robot will move to the home position set under
Setup  Home Position Setup.

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5.9 Adjust Position Setup

When the dispensing barrel or tip is removed and replaced, the new tip is often in a
slightly different XYZ position than the old tip was. The F4200N robot has a software
utility to adjust a program‟s origin, thereby correcting the tip‟s offset problem.

A reference point should be chosen someplace on the work piece fixture or on the work
piece itself. The reference point must be registered in the program data. This only needs
to be done one time, such as when the program is originally created.

Instruction Display Shows

Jog the tip to the reference point (i.e. X=10,

Y=20, Z=30)
1
Or if the reference point is an existing point in
your program, press the MOVE key to bring the
tip to that XYZ location.

[SETUP] 2/3
1 Home Position Setup
2 Adjust Position Setup
2 Press the SETUP key, and go to page two
.
.
7 Acceleration
Set Adjust Position
Press 2 to Select Adjust Position Setup. The -------------------
current point will be saved automatically. (The X: 10
point will not be registered at any address in the Y: 20
program, but it will be saved as a global variable Z: 30
for the current program)

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When the tip/barrel is changed, use the following procedure to adjust the program‟s origin
for the new tip location:

Instruction Display Shows

Counter:0
Switch the robot to RUN mode (the main unit
+------------+
mode switch is in the RUN position) | START/HOME |
+------------+
[Run Menu] 1/1
1. Reset Counter
1 Press the F1 key. 2. Adjust Origin
3. Relocate Data

[MESSAGE BOX]
-------------------

2 Press 2 to select Adjust Origin. Press [ENTER] Adjust

Position

-------------------

Press the Enter key. The tip will move to the [MESSAGE BOX]
reference point previously saved (X=10, Y=20, -------------------
Z=30).
3 Move TIP
If the new tip‟s location is slightly different than
the last tip‟s location, you should see that the tip -------------------
is not exactly at the reference point X10 Y20 Z30

[MACHINE HOME]
Jog the tip to the correct location for the
reference point. +------------+
| START/HOME |
4 When the location is correct, press ENTER. +------------+

All the coordinates in the current program will be

offset to compensate the tip offset

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5.10 Retract Setup

The Retract function gives the programmer a high level of tip control at the end of line
dispensing. This is useful when dispensing high viscosity or 'stringy' materials as it will lay
the material‟s tail down on the dispensed bead.

There are five types of the Retract Setup functions: 0 (Normal), 1 (Back), 2 (Square Back),
3 (Forward) and 4 (Square Forward).

_______________________________________________________________________

#0: RETRACT (NORMAL)

_______________________________________________________________________

#1: RETRACT (BACK)

_______________________________________________________________________

_______________________________________________________________________
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#2: RETRACT (SQUARE BACK)

_______________________________________________________________________

#3: RETRACT (FORWARD)

_______________________________________________________________________

#4: RETRACT (SQUARE FORWARD)

_______________________________________________________________________

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The retract function requires the following parameters:

RETRACT LENGTH: the distance to travel away from the line end point

RETRACT HEIGHT: the distance to rise as the tip moves away from the line end
(must be smaller than the value of Z clearance in that point).

RETRACT SPEED: the speed at which the tip moves along the retract path

RETRACT TYPE: 0. NORMAL

1. BACK
2. SQUARE BACK
3. FORWARD
4. SQUARE FORWARD

Retract values will be used for all lines from the current memory address forward until
another Retract instruction is found or the function is canceled.

5.11 Quickstep

This function causes the robot to move very fast from one point to another reducing the
time of the dispensing cycle.

5.12 Quickstep path

When Quickstep enabled, it provides two kinds of path to use,

1. Triangle：

2. Normal：

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5.13 Auto Purge Setup

After the end of a program, the tip will go to the home position and material will be purged
in a continuous loop according to the parameters registered in the Auto Purge Setup
command.

This command is very useful for two part materials that have a very short pot life.

For example, if a Wait Time of 5s and a Purge Time of 2s is registered in the Auto Purge
Setup, the following chart shows the Purge pattern.

Wait
Purge

Dispenser ON

Dispenser OFF
2 5 7 10 12 15 Time (s)

5.14 ESTOP Output Status

After receiving the emergency stop signal, the robot can set the status of all the outputs as:

 INITIAL: The status (On/Off) of the outputs is set as the status set by the Initial IO
command.
 KEEP OUTPUT STATUS: The status (On/Off) of the outputs is left as it was before
the emergency signal.

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5.15 Acceleration

Controls the acceleration of each axis. The value entered in this setting is a robot
parameter and its exact relation to the robot‟s acceleration is beyond the scope of this
manual.

In general, the value of the acceleration parameter is inversely related to the robot‟s
acceleration. A small value will result in a high acceleration and vice versa. Very small
values can make the motors slip and can cause the driver cards to over heat.

The default value is 25 for all the axes and values lower than 15 are not recommended.

5.16 Pause Status

Pause Status sets the position to which the tip will move after pressing the Start button.

There are two options:

 Home position: The tip will move to the home position.

 Stand: The tip will stay at the position where the Start button was pressed.

5.17 USB Up/Down Load

Upload robot program files

Instructions:

1) Prepare an USB drive. (format and less 8G memory size).

2) Turn the robot OFF and plug the USB drive into the rear port of the robot.
3) Turn the robot ON.
4) Switch to “Teach” mode and connect Teach pendant to the robot.
5) After homing, press F4 to enter the menu.
6) In page 3, select “7 USB Up/Down Load”.

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7) Select “1” for uploading programs to USB.

8) Then you can choose to copy all programs or some programs to USB drive.
9) After selected, it will upload wanted programs to USB drive. It takes times to upload.
10) When finished, it will show completed sign on the display. Do not unplug the USB
drive during uploading process.
11) Programs are saved in the folder “programs”.

Download robot program files

Instructions:
1) Follow upload step 1~3, plug the USB drive to a robot where programs copied to.
2) Select “2 Download from USB” .
3) If download a wanted program, please select “2 part data”. It will show all the
programs saved in the USB drive.
4) For example, if want to download the program No.099, please press “4”. It will
download automatically.
5) Continue the step 4 if want to download another program.

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6. I/O Specifications

6.1 Dispenser Connector:

Pin # Description
1 NO
2 COM
3 EARTH

Notes:

The MAXIMUM Voltage The MAXIMUM Current

12A 125 VAC
7A 250 VAC
7A 30 VDC

6.2 Ext. Control Connector: (Optional)

The pin assignments for the external control connector are as follows:

Pin # Description
1 Start Signal
2 Start Signal
3 Door Switch (COM)
4 Door Switch (NC)
5 Door Switch (NO)
6 Emergency Stop
7 Emergency Stop

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6.3 Output Signals

Pin # Description
14 OUT #1
15 OUT #2
16 OUT #3
17 OUT #4
18 OUT #5
19 OUT #6
20 OUT #7
21 OUT #8
22 RESERVE
23 RESERVE
24 +24V
25 +24V

6.4 Input Signals

Pin # Description
1 IN # 1
2 IN # 2
3 IN # 3
4 IN # 4
5 IN # 5
6 IN # 6
7 IN # 7
8 IN # 8
9 RESERVE
10 RESERVE
11 GND
12 GND
13 GND

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Example：

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7. System Specifications

DIY 200

Working Area X / Y / Z (mm) 200/200/50

Load Worktable / Tool 3.0kg / 1.0kg

Maximum Speed X&Y / Z

0.1~400 / 200
(mm/sec)

Repeatability +/- 0.02mm/ Axis

Resolution 0.01mm/Axis

4000 points/program
Data Memory capacity
100 programs

Processor 32 Bit

Display Teach Pendant LCD

Drive System /Stepping Motor Micro stepping 3-Phase

Motion Control PTP & CP

Linear / Circular Interpolation 3 axes

Teaching Method Teach Pendant

I/O Signals 8 Inputs / 8 Outputs

External Interface RS232

Auto-switching:
Power Supply AC95-132V 300W
AC180-250V 300W

Working Temperature 0 – 40 C

Relative Humidity
20 – 90%
(no condensation)
Dimensions
350 x 330 x 475
(WxDxH) (mm)

Weight 17 kg

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200F 300F 400F

Working Area X / Y / Z (mm) 200/200/50 300 / 300 / 100 400 / 400 / 100

Load Worktable / Tool 3.0kg / 2.0kg 6.0kg / 3.0kg

Maximum Speed X&Y / Z

300 / 200 600 / 320
(mm/sec)

Repeatability +/- 0.01mm/ Axis

Resolution 0.001mm/Axis

4000 points/program
Data Memory capacity
100 programs

Processor 32 Bit

Display Teach Pendant LCD

Drive System /Stepping Motor Micro stepping 3-Phase

Motion Control PTP & CP

Linear / Circular Interpolation 3 axes

Teaching Method Teach Pendant

I/O Signals 8 Inputs / 8 Outputs

External Interface RS232

Auto-switching: Auto-switching:
Power Supply AC95-132V 200W AC95-132V 300W
AC180-250V 200W AC180-250V 300W

Working Temperature 0 – 40 C

Relative Humidity
20 – 90%
(no condensation)
Dimensions
350 x 330 x 490 485 x 500 x 600 585 x 600 x 600
(WxDxH) (mm)

Weight 18 kg 32 kg 40 kg

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200Q 300Q 400Q

Working Area X / Y / Z (mm) 200/200/50 300 / 300 / 100 400 / 400 / 100

Load Worktable / Tool 3.0kg / 2.0kg 6.0kg / 3.0kg

Maximum Speed X&Y / Z

500 / 200 600 / 300
(mm/sec)

Repeatability +/- 0.03mm/ Axis

Resolution 0.01mm/Axis

4000 points/program
Data Memory capacity
256 programs

Processor 32 Bit

Display Teach Pendant LCD

Drive System /Stepping Motor Micro stepping 3-Phase

Motion Control PTP & CP

Linear / Circular Interpolation 3 axes

Teaching Method Teach Pendant

I/O Signals 8 Inputs / 8 Outputs

External Interface RS232

Auto-switching: Auto-switching:
Power Supply AC95-132V 200W AC95-132V 300W
AC180-250V 200W AC180-250V 300W

Working Temperature 0 – 40 C

Relative Humidity
20 – 90%
(no condensation)
Dimensions
350 x 330 x 475 475 x 435 x 520 575 x 535 x 520
(WxDxH) (mm)

Weight 18 kg 26 kg 31kg

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8. Machine Dimensions

DIY-200 Dimensions：

DT-200F Dimensions：

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DT-300F Dimensions：

DT-400F Dimensions：

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DT-500F Dimensions：

DT-200Q Dimensions :

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DT-300Q Dimensions

DT-400Q Dimensions

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