TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第29页

29 9.18 How to Cr eate Parall el Lines Connec ted by Ar cs Referenc e Section 9.2 and 9.24 From the Inse rt screen, Select option Change the move speed with the key . When line start location i s reached (1), p ress When…

9.17 How to Create an Interrupted Polyline Whilst Moving

Point 1

Point 2

Point 3

Point 4

Point 5

Point 6

Actual dispensed lines

Turn on valve

Turn off valve

Turn on valve

Turn off valve

This program makes one continuous line whilst the dispensing valve is opened and closed as instructed by the robot. The

dispensing valve remains at one height during the entire line. It is easier to write Polyline and “mid” positions first and

change the valve open/closed status second in Edit mode. This methods helps to prevent “dog bones”, at the end of the lines.

Programmed Polyline

Select LineMid.

Press

Press 1

Using button “1”, select

valve status open or closed,

per below.

Repeat sequence selecting

open or closed at each

LineMid. The status for

above example is marked by

the side.

After

selection,

press ENT

3 times to

return to

Points

List.

Reference section 9.16

9.18 How to Create Parallel Lines Connected by Arcs

Reference Section 9.2 and

9.24 From the Insert screen,

Select option

Change the move speed

with the key.

When line start location

is reached (1), press

When line mid location

is reached (2), press

Press

When arc mid location

is reached (3), press

When line mid location

is reached (4), press

Repeat above process for

Lines/Arc points 4 – 7.

When final position is

Reached, press

Press

This starts the dispensing

cycle.

Input pattern speed…

press

Press then

Lines and arcs are listed in

the Points List.

Press twice

Press

Press 1

1 Line Start

2 Line Mid

3 Arc Mid

4 Line Mid

5 Line Mid

6 Arc Mid

7 End

(Optional) Press 4 and use

the alphanumeric keys to

select a park location.

then

Press 2 and use the

alphanumeric keys to change

the retract speed, retract

height and feed on/feed off

delay.

Press

9.19 How to Create an Array Pattern

Fixed Start Point

Optional Start Point

An Array Pattern is a series of dispensing parameters in a programmed number of rows and columns. The array can either

be made up of rows and columns of dots, or rows and columns of multi-point patterns. Only 1 dot, or 1 pattern, is needed

to be created and by using the Array function capability, the teaching pendant will plot the co-ordinates of each “array

element”.

Example of 25 (5 rows x 5

columns) bottles for filling

with ink.

Example of 6 (2 rows x 3 columns)

automotive switches for dispensing

conductive grease onto.

Rows

Columns

There are 2 options to create an Array Pattern:

1. Array function outside of the main program: This is a quick and simple way to create an array. All patterns in the

main program will be set in the same Array function. The co-ordinates of each point in the array are not recorded in the

main program so editing is limited. Follow Section 9.19.3

2. Array function within the program “Points List”- The co-ordinates of each point in the array is recorded in the

program “Points List”. This function also allows multiple arrays to be created within the program with the ability to edit

any point, if required. Follow Section 9.19.4

All array patterns will start at the top left co-ordinate first, unless set in teach mode and then any corner co-ordinate can

be selected.

Array Element

Optional Start Point

In Mode: Teach

Section 9.19.2

In Mode: Not Teach