TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第11页

11 8.2 Cr eating the C alibration L ocation Du ring Pr ogra mming Points List – This method inserts a cal ibration point (R EF PT ) into the body of the program, w hich can be modified at anytime. It is also possible to …

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.

8.3 Veryfying the Calibration Location During Live Use

If no tip calibration is required,

press

If tip calibration is required, press

1 – Home Adjust

Select 1 - Program

Select the program, to run.

Press

The tip will move to the Cal pin if one is

stored or to the first dispensing location if

a Cal point is not stored, in the

programming.

Operation Screen – If a calibration point (REF PT) has been stored in the program the dispense tip will move to this pin

location, when Home Adjust is pressed. If no calibration point has been stored, in the programming, the dispense tip will

move to the first dispensing location, when Home Adjust is pressed.

The program can be run with

Press

Use jog keys to correct tip position.

Press

This change does not affect the original

written program location.