TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第15页

15 9. PROGRAMMIN G 9.1 Programm ing by Jog key s or Input ting Co-ordinat es Inputting Co-ordina tes – Advanced Use r (example of Line) Inputting Co-ordina tes – Entry Leve l User (exampl e of Line) After selecting the t…

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.

9. PROGRAMMING

9.1 Programming by Jog keys or Inputting Co-ordinates

Inputting Co-ordinates – Advanced User (example of Line)

Inputting Co-ordinates – Entry Level User (example of Line)

After selecting the type of dispensing (dot, line, arc…) input the X co-ordinate, using the

number keys. Use the arrow keys to move down and input the Y and Z co-ordinates. When all

3 co-ordinates have been entered, press

The dispensing valve will move to this location. Press to save the position.

Repeat above process for the Line End.

Once repeated, the Points List will show where more patterns can be inserted.

After selecting the type of dispensing (dot, line, arc…) use the jog keys to move to the Line

Start position.

Press to save the position.

Repeat above process for the Line End.

Once repeated, the Points List will show, where more patterns can be inserted.

The TSR2000 Series robot is designed to be programmed by either

imputing co-ordinates (advanced user) or by using the jog keys (entry

level user).

Note: All pattern creation, over the following pages, are illustrated by

the entry level method

9.2 Creating a New Program

Press 2

Press

Enter a program name. Use

the alphanumeric keypad

and press

Press

See Section 10 for

Explanation of File

Parameters.

Press

From the Insert screen,

select one of the options.

(for this Line example,

select option 2)

Change the move speed

with the key.

When line start location is

reached press

Use alphanumeric keys to

move the line end location.

Press

This enables changes to the

file parameters.

Press 5

Use alphanumeric keys to

change dispense speed.

(Pattern Speed).

Press twice

If “GO” is flashing at

the top of screen, press

then press

Press twice.

This will go to the file

processing menu

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