TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第45页

45 10. PROG RAM PR OCESSI NG MENU The Progr am P rocessing Menu screen i s displayed befo re the program is written an d again after the pr ogram co -ordinates a re written and pr ior to Download. press 1 -Home Adjust - …

9.24.3 Line On/Off Distance

On Distance - the robot will move for a set distance before the valve starts dispensing. This prevents the first

dispense being too large, for example in a jet valve line. By dispensing, whilst moving, the first dot is the same size

as all other dots, within the jetted line.

Move and dispense and at the same time.

Move for preset distance and dispense whilst moving.

Off Distance – the robot will continue to move past

the finished dispensing pattern, preventing a build up

of fluid.

Create a Line as per

Section 9.11

Press

Press 2 – Teach Params

Continue to modify or

press to download

Ensure Feed slot 1 is

highlighted.

Press

Off Distance

On Distance

Press 5 – Pattern Params

Change Speed

Set Off Distance.

Set On Distance.

Keep pressing

to get to Points List

Press twice.

Note: If the pattern is 50mm in length and a 5mm

On and Off Distance is set, the actual pattern will be

40mm (50mm – 5mm On – 5mm Off = 40mm).

On/Off Distances should be added to the pattern

length during programming or during editing.

10. PROGRAM PROCESSING MENU

The Program Processing Menu screen is displayed before the program is written and

again after the program co-ordinates are written and prior to Download.

press

1 -Home Adjust - described through Section 8.

2 -Array – described through Section 9.19.

ENT - Download - pressed once the program is written and will save a copy to the robot’s and pendant’s memory.

# - Backup – described in Section 7.

F1 - Purge Set – future development.

F2 - File Edit – creating or editing a file. Described in Sections 9.2 and 9.7.

F3 – Data Check – checks or co-ordinates are within the working area of the robot.

F4 - File Parameters – specific speed/movement program defaults, park position, distance parameters.

10.1 Speed Parameters:

A change to the “Pattern” will apply this speed to all lines, polylines, circle and arcs,

contained within the program. Individual speed changes can be changed by editing the

program and selecting the co-ordinate (Line 1, Line 2), to edit.

Acceleration speeds can be changed by pressing

Dispense

Pattern 1

Dispense

Pattern 2

XYZ Movement

Between Patterns

10.2 Teach Parameters:

10.3 Distance Parameters:

10.4 Park Location:

The Park Location is the position the dispensing tip should move to once the program has

completed. For the tip to move the Start, End or Origin location, the operator must select

option 1, 2 or 3. The operator to program a Specific Point, which is anywhere within the

robots working area by using the same programming method used to create a dot. The

operator can also choose to Go to next file be selecting option 5. This will display a File List

and the next program to follow can be selected from the List. The selected next file will start

dispensing once the original program has been completed.

When selecting Specify, the display requires a position anywhere in the robots working area

to be selected. At the end of the dispensing program the tip will move to this specified

location.

Note:

Lift height = Z-retract Height, the default lift height is 5mm and can be changed in the “Distance Params” menu. The

“Lift Speed” is the same speed as the Z-speed, and cannot be changed.

Retract height = Z-retract Height, no default setting. It can be changed in the “Teach Params” menu. The “Retract

Speed” also can be set in the same menu.

If the Retract height is bigger than the lift height then the Z-retract speed will override the lift height speed.

If the Retract height is less than the lift height then the Z-retract speed will apply to the retract height first.

Teach Height – during program it is usually set to 000.0, the height from moving from one

point to the next is the Teach Height.

Park Height – when program is completed the Z-axis will lift to a safety height. If no co-

ordinate is set the Z-axis will lift to 0 co-ordinate and back to finishing point. Before

processing, the z-axis will also move to this safety point.

Off Distance – the distance at which the valve will stop dispensing before the finish point.

Normally used when joining one line to another for a clean finish.

Lift Height – the distance the z axis will move up after a dispense cycle.

Refer to section 9.2 - Understanding Lift Height and Retract Height

The feed on delay relates the dispensing time for a dot. Feed off delay is the time the

dispensing valve will stay at the end of the dispensing co-ordinate not dispensing, before

moving to the next co-ordinate. Retract Speed is the speed of the tip retracting after a

finished cycle and Retract height is the height the tip move up to after the dispensing of

each position is complete, before moving to the next dispense location.