TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第41页

41 9.23 Definition of Addit ional Pr ogramming Fea tur es Dot Point – Feed on D elay In the distance par ameter screen, the Feed on Delay sh ould only be use d to set the dispensing time for a dot. Circular – Start Point…

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.

9.24 Line Dispensing Adjustments

9.24.1 Valve Feed On Delay - Lines

Usually, when a dispensing valve has been stationary for a period of time, for example at the beginning of a

dispensing program, there is a requirement for the initial dispensing to have a delay applied. This delay is usually

small, such as 50-100ms, which allows the fluid to flow and adhere to the correct position at the start of the pattern.

If no delay is applied, to the first dispensing location, the dispensing will be smaller than the rest or the start of the

line will be without adhesive.

Example of line with and without feed on delay:

From the Line Start screen:

Press

To go to the Points Parameters

screen.

Press

Select an available Feed

function, 1-5.

Press

Up to 5 Feed On delay or 5 Feed Off delay times can be set per program. Valve Feed Off Delay is the time the robot

will stay at the end of the dispensing location before moving to the next dispensing position. No fluid will be dispensed

during to the Feed Off time period. Note that dots use a feed slot and could conflict will line start delay if the same

slot is chosen for a dot and a line.

Press 2, to go to the Teach

Parameters screen.

Input the Feed On delay

time.

Press until the Line

Start screen is reached.

Continue to program as

normal.

Line 1

Line 2

Line 3

Line 4

Without Feed On

With Feed On