TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第12页

12 8.3 V eryfying the Calibrati on Locat ion During Live Use If no tip calibration is required, press If tip calibration is required, press 1 – Home Adjust Select 1 - Program Select the progr am, to run. Press Press The …

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.

8.4 Shortcut – communicates with external PLC when robot used as a “cell” in an in-line robot

Shortcut refers to the robot being a intergrated as a module in an in-line process. The teaching pendant instructions, below,

are to set the external binary signal up for this process. The pendant would be disconnected when in live use. The signal is

communicated through the rear DB37 connector.

If the robot is on a bench top, being operator controlled, then the Shortcut is not used.

Select 1 - Operation

Select the progam using the arrow.

Press

Select 2 – Shortcut

Press

- - - means no binary Shortcut signal set. Use

numeric keys to set Shortcut binary signal (as per

external PLC). If Shortcut 003 is set, the external

PLC needs to send binary signal 003 to the robot.

Trigger:

Unconditional – the robot

receives the external signal

and completes the dispensing

cycle.

Trigger:

Feet key press – the robot

receives the external signal but

will wait for the line operator to

press the the “Feed key”. When

Feed key is pressed the

dispensing cycle will start.