TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第10页

10 8.1 Calibrating t he Dispen se T ip When a dispense tip is changed, or the valve is removed from the robot , it is normal for the tip/valve to be slightly out of the original position when reat tached. By creating a p…

8. OPEARATION – RUNNING A SAVED PROGRAM

Press 1

Select program to be used and

press

Select program to be deleted

and press then

If selecting dispense cycle to

load, press twice.

This will go to the final step.

By pressing once:

1 – Calibrate tip position

2 – Create shortcut

3 – Reset counter

4 – Set Purge Position

(Optional) Press 2

Change current state and press

(Optional) Press 3

Change counter,

press

Using the button,

select if Purge is required at

start or end of program, or not

at all.

Press

Press and then use

alphanumeric keys to

move to the correct

location.

Note: Home Adjust is the process in which to

adjust/offset the co-ordinates completely in cases such

that: the dispensing tip has been changed or the

dispensing valve has been removed and refitted. Due

to very small differences from product to product or if

the valve has been removed and put on at a slightly

different position, the operator can calibrate the

program to the new position. The entire program will

offset to where the operator has set it to.

Press

(Optional) Press 4

Press

This starts the dispensing

cycle.

8.1 Calibrating the Dispense Tip

When a dispense tip is changed, or the valve is removed from the robot, it is normal for the tip/valve to be slightly out of

the original position when reattached. By creating a physical calibration point, on the device or fixture, the program can be

adjusted to suit the new tip position. This change will only effect the current program and not other programs stored in the

memeory. All programs can have their own unique calibration position.

There are 2 ways to achieve this calibration in the x, y and z axis:

Reference Point – by inserting a “REF PT”, into the Points List, during programming, calibration of the tip is performed

at a specified place by the user, such as a pointed stick or cross-hair markings on the holding fixture.

Home Adjust – if the “REF PT” is not inserted into the program the robot will use the first dispensing location as the

calibration co-ordinate.

By pressing Home, Home Adjust or Home Adj

Home Adjust can be found in the following screens:

If this function is performed in the Editing screen the program

will need to be Downloaded after the Home Adjust.

In Operation Menu

In Editing Screen

Typical calibration pin

Device to be dispensed onto

Original dispense location

New dispense location due to

dispense tip variance or valve

refitted to robot slightly out of

position.

Use jog keys to

align.

Dispense tip now calibrated.

8.2 Creating the Calibration Location During Programming

Points List – This method inserts a calibration point (REF PT) into the body of the program, which can be modified at

anytime. It is also possible to modify the stored progam to include a calibration point (REF PT) later. It is recommended to

program in the calibration point (REF PT) at the start

Reference Section 9.2

From the Insert screen,

select option 4 – REF PT

Press 1

Options 2 and 3 are for

future use

Press

Use jog or alphanumeric

keys to move to

calibration location.

The calibration location is

now set.Continue to write

program by inserting the

dispensing co-ordinates.

Start by pressing

This program consisisted of a

Polyline to created a gasket

(square).

If is pressed, these

functions are for future use and should not

be altered.