TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第40页

40 9.22 Operating up to 4 Dispensing V alves Move the valve 2 to the dispensing l ocation and save the point position. Both Points need to be edited. Press Input the dispens ing time (Feed On D elay) for dot 1 along with…

9.21 Copying and Pasting a Pattern

This is the full pattern to

be created from the

pattern element showing

start position and travel

direction. The red dot

signifies the start location

of each element.

This is the pattern

element to be created and

should be written into the

Points List.

START

From the Insert screen,

create the very first

element.

POLYLINE + POINT

Continuing creating the

pattern element.

All of Element 1’s co-

ordinates are listed in the

Points List.

Press (Group)

Use up/down arrow keys

to select all co-ordinates

of the first element.

Press to confirm

Press to copy.

Press

Dispense tip will move to

Element 1’s (already

created) start location, so

does not need to be saved.

Jog to each Element’s start

location.

Press when

reached

This image shows that the

first 3 elements have been

created. Continue until all

elements are completed.

The Points list shows 24 co-

ordinates – 4 Elements.

When all Elements are

completed…

Press twice.

Continue editing or

download program.

Copying and pasting a pattern saves the user a lot of time as only the first pattern element requires programming.

Once the first element is created it can be copy and pasted as many times as required. Each individual co-ordinate

will be listed in the programs Point List enabling further editing, if needed. Although the pattern can be jogged to

the next pattern, it is better practice to input the true measurement using the numeric keys.

9.22 Operating up to 4 Dispensing Valves

Move the valve 2 to the

dispensing location and

save the point position.

Both Points need to be

edited. Press

Input the dispensing time

(Feed On Delay) for dot 1

along with Retract Speed

and Height.

Press until the

Points List is shown.

Select a Feed slot for dot 1.

For this example slot 1 will

be used.

Press

Repeat process for Dot 2 by

using Valve 2 and Feed slot

2 and setting a different

Dispensing Time (Feed On

Delay).

After switching off unused

outputs:

Press

Press 2 – Teach Params.

Reference Section 9.2 and

9.10

From the insert screen

select option 1.

The TSR2000 Series robot has the capability to operate up to 4 dispensing

valves independently, by using an advanced I/O cable, available from

Techcon Systems. Each valve requires a separate controller to perform this

function. Triggerering of each I/O signal is set in the editing screen. This

example will demonstrate 2 valves dispensing different fluids, through 2

TS500R controllers, creating dots.

Move the valve 1 to the

dispensing location and

save the point position.

Press

Press 1 – Valve

Repeat process for Dot 2 by

using Feed slot 2 and setting

a different Dispensing Time

(Feed On Delay).

All outputs will become

active and the user will

need to switch off unused

outputs.

Output Off

Output On

9.23 Definition of Additional Programming Features

Dot Point – Feed on Delay

In the distance parameter screen, the Feed on Delay should only be used to set the dispensing time for a dot.

Circular – Start Point Definition

Program Step-Through

A simulated run can be performed within the points list, anytime throughout the program. Use the up/down

jog keys to select where in the program the run is to be started. All co-ordinates will move at their

programed speeds. To switch between Simu X and Simu √ press

By pressing the robot will move to the next location and waiti until is press again.

In the Graphic Parameter screen, whilst inputting circle dimensions, the Start Points are as follows, in relation the

centre of the circle.

Simu √ Mode (wet run)

This mode will move to locations, whilst dispensing, so the operator can verify the

position, speed and dispense quality of the co-ordinates. Editing can be performed by

pressing on a selected line.

0, 0 Inner Circle

+X, 0

0, -Y

-X, 0

0, +Y

Simu X Mode (dry run)

This mode will move to locations so the operator can verify the position and speed of the

co-ordinates. Editing can be performed by pressing on a selected line.