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F4000N Series Operating Manual Section 3: T eaching Overview Part # 562187N - 1 Rev . D Sep 2012 12 © 20 12 Fisnar Inc. SECTION 3: T eachin g Overview

F4000N Series Operating Manual

Section 2: Setup

Part # 562187N-1

Rev. D Sep 2012

1. Unpacking the Robot

 Always lift the robot from its base. Never lift the robot from the cross member.

 Remove all accessories from the shipping package before attempting to remove the

robot.

 Place the robot on a stable workbench before operating.

 If possible, do not discard the packing material as these items may be needed if the

robot is shipped or moved in the future.

2. Setup

F4000N robots are available with different configurations. The setup of each machine with

its accessories will depend on the customer‟s application.

If an enclosure is NOT being used, the enclosure door switch may be bypassed by

connecting the plug labeled SHORTED (included in the robot accessories box) to

the External Control Connector. If a long beep (3-4 seconds) sounds upon start up,

ensure that the SHORTED plug is firmly in place.

2.1. When using an enclosure or light curtain connect the external start / stop box and

enclosure door switch or light curtain to the External Control Connector on the main

unit. For further information, see SECTION 7:2.2 Ext. Control Connector:

2.2. Remove the shipping bracket by removing the screws that secure it. Keep the

shipping bracket and screws in a safe place for future use.

2.3. Connect one end of the Teach Pendant cable to the Teach Pendant and the other

end to the Teach Pendant connection on the robot.

2.4. Connect the power cord to the robots power inlet. Be sure to use the correct power

cord and power source for the robot model you are using (110V or 220V).

2.5. Tie back all cables and air lines so that they will not interfere with the robot‟s motion

when the robot is operating. Be sure that the cables and air lines do not restrict the

motion of the robot‟s head and the robot‟s table and make sure that they can not

become jammed as the robot moves through the work area.

F4000N Series Operating Manual

Section 3: Teaching Overview

Part # 562187N-1

Rev. D Sep 2012

SECTION 3: Teaching Overview

F4000N Series Operating Manual

Section 3: Teaching Overview

Part # 562187N-1

Rev. D Sep 2012

1. Teaching Overview

A program consists of a series of instructions stored in the main memory unit. Each

instruction is stored in a numbered memory address. A memory address may record a

point location with an X, Y, and Z-axis value and point type or it may store an instruction,

which sets a parameter, such as a dispensing time or line speed.

When the program is executed, the robot will go through each memory address in

sequence and execute the instruction found there. If the memory address contains a point

location, the robot will move the X, Y, and Z axes to that location. Depending on the type

of point registered at that location, the robot may also perform other functions, such as

turning the dispenser on or off.

The most commonly used point types are Dispense Dot, Line Start, Line Passing, Arc

Point, and Line End.

To program the robot to dispense a „dot‟ of material, the dispensing tip must be jogged to

the desired XYZ location, then that location is registered as a DISPENSE DOT point type

by pressing the appropriate keys on the Teach Pendant.

To program the robot to dispense a bead of material along a linear path, the XYZ location

of the start of the line is registered as a LINE START point type. The locations where the

tip changes direction are registered as LINE PASSING points. The end of the line is

registered as a LINE END point:

Dispense Dot