TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第13页

13 8.4 Shortcut – co mmunicates with external PLC w hen r obot used as a “cell” in an in -line r obot Shortcut refer s to the robot bei ng a inter grated as a modul e in an in-l ine process. The teaching pen dant instr u…

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.

8.5 Used Times - Monitoring and Setting Usage and Visual Alarms

“Used Times” shows on the teaching pendant and robot screen (when teaching pendant is disconnected) the status of how

many dispensing cycles have been dispensed. This is different to the “Tally” as shown on page 48. The tally dispays how

many times the entire program has been completed whereas the Used Times records the the accumulatively dispensed

cycles/positions giving an indication of how much work the dispensing valve has achieved. If another saved program is

selected then the cycle count will not start at zero but continue counting from where it left off. However, the live counter

can be reset to zero on the Teach Pendant and robot screen. This feature is particluary useful if the operator needs to change

the tip or wetted path, of a dispense valve, to maintain dispensing accuracy, after it has been used a certain number of cycles.

The operator is able to set the top limit of dispense activations. When the the robot has reached the target dispense cycles

the it will display the following warning on the screen:

This display warns the operator to change the nozzle although the user of the robot can translate this to any internal

maintenance procedure if required. Once the procedure is completed the ENT or ESC key can be pressed to calibrate the tip

(8.1 to 8.3). Possible uses of “Please change the nozzle”: Replace tip, replace disposable path, replace syringe, remove valve

for maintenance, flush valve with cleaning agent, re-calibrate valve position, etc.

On robot

(no teach pendant attached, will alarm everytime until Used Times counter is reset).

On pendant

(will alarm everytime

until Used Times counter

is reset)

Press 1 – Operation.

Select desired program.

Current usuage data is

displayed

Press 3 – Used Times.

Usuage data displayed with

alarm conditions. This screen

shows no alarms are set and

the counter will keep a

running total of shots

completed.

Alarm target (Usable Times)

can be set.

Pre-Alarm

(only if pendant attached,

will pre-alarm once only).

Cycles (Used Times) can be

reset.

Pre-Alarm can be set. This

example has an additional

screen warning 1000 cycles

prior to the actual alarm.

Press

Program is ready to dispanse.