TSR2000-Series-Teaching-Pendant-User-Guide-V1.pdf - 第9页

9 8. OPEARA TION – RUNNING A SA VED PRO GRAM Press 1 Select program to be used a nd press or Select program to be delet ed and press then If selecti ng dispense cycle to load, press twice. This will go to the final ste p…

7. TEACH PENDANT MAIN SCREEN

1 – Operation – Select the saved program, apply home adjust, process file and delete

file, activate robot by external source (shortcut), setting purge and usage times.

This mode is to run the robot with teach pendant connected once the program has

been written and saved.

2 – Program – Create dispensing program, edit parameters, copy, delete, download.

3 – USB Disk Edit – Download/Upload program to USB, system update.

4 – Test – For testing areas of the robot such as axis jogging and I/O ports.

5 – System Info – Device type, teach version, firmware version and connecting

safety cover.

6 – Backup – Load teaching file from robot’s memory to teaching pendant’s

memory, or delete the teaching file in the robot.

After the robot has initialized the mian screen will be displayed.

Every function of the robot is controlled through one of the 6 choices

of the main screen. An overview of each section is provided below.

8. OPEARATION – RUNNING A SAVED PROGRAM

Press 1

Select program to be used and

press

Select program to be deleted

and press then

If selecting dispense cycle to

load, press twice.

This will go to the final step.

By pressing once:

1 – Calibrate tip position

2 – Create shortcut

3 – Reset counter

4 – Set Purge Position

(Optional) Press 2

Change current state and press

(Optional) Press 3

Change counter,

press

Using the button,

select if Purge is required at

start or end of program, or not

at all.

Press

Press and then use

alphanumeric keys to

move to the correct

location.

Note: Home Adjust is the process in which to

adjust/offset the co-ordinates completely in cases such

that: the dispensing tip has been changed or the

dispensing valve has been removed and refitted. Due

to very small differences from product to product or if

the valve has been removed and put on at a slightly

different position, the operator can calibrate the

program to the new position. The entire program will

offset to where the operator has set it to.

Press

(Optional) Press 4

Press

This starts the dispensing

cycle.

8.1 Calibrating the Dispense Tip

When a dispense tip is changed, or the valve is removed from the robot, it is normal for the tip/valve to be slightly out of

the original position when reattached. By creating a physical calibration point, on the device or fixture, the program can be

adjusted to suit the new tip position. This change will only effect the current program and not other programs stored in the

memeory. All programs can have their own unique calibration position.

There are 2 ways to achieve this calibration in the x, y and z axis:

Reference Point – by inserting a “REF PT”, into the Points List, during programming, calibration of the tip is performed

at a specified place by the user, such as a pointed stick or cross-hair markings on the holding fixture.

Home Adjust – if the “REF PT” is not inserted into the program the robot will use the first dispensing location as the

calibration co-ordinate.

By pressing Home, Home Adjust or Home Adj

Home Adjust can be found in the following screens:

If this function is performed in the Editing screen the program

will need to be Downloaded after the Home Adjust.

In Operation Menu

In Editing Screen

Typical calibration pin

Device to be dispensed onto

Original dispense location

New dispense location due to

dispense tip variance or valve

refitted to robot slightly out of

position.

Use jog keys to

align.

Dispense tip now calibrated.