TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第16页

16 9.2 Cr eating a New Pr ogr am Press 2 Press Enter a pro gram name. Use the alphanumeri c keypad and press Press Press See Section 10 for Explanation of File Parameters . Press From the Insert scre en, select one of th…

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

Go to page 17

Cont. from page 16

Understanding Lift Height and Retract Height

Lift Height - is found in the Point Parameters Menu under the

the Lift Set option. After the dispensing cycle, the Z-axis will

move up to the Lift Height at the normal moving (non-

dispensing) speed of the machine. If required, a different Lift

Height can be applied to any or all of the dispensing patterns,

however, if the speed is set to slow this would also mean that

when the robot is required to go to Origin (0, 0 ,0), the z-axis will

take a long to time to home.

Retract Height - can be found within the Teach Parameters

Menu. Retract Heights are applied to the Feed Slots used to

created patterns. If a dot is created using Feed Slot 1 and a 2

dot

is created using the same feed slot, the same parameters will be

applied to dot 2 including Retract Height. A Retract Speed can

be applied to Retract Heights.

If Retract Height is greater than Lift Height, Retract Height

Overides. If Lift Height is greater than Retract Height, Retract

parameters will operate first (height and speed) then the Lift

parameters will complete the up movement. If Retract and Lift

Height are the same the Retract Height and Speed override the

Lift Height and Speed.

Use the alphanumeric

keys to change the retract

speed, retract height and

feed on/feed off delay.

Press

This starts the dispensing

cycle.

Use the alphanumeric keys to

select a park location.

Press then

To save, press

Press 4

Select where the valve

should go to after

dispensing.

Press 3