F4000N_revD.pdf - 第14页
F4000N Series Operating Manual Section 3: T eaching Overview Part # 562187N - 1 Rev . D Sep 2012 13 © 20 12 Fisnar Inc. 1. T eaching Overview A program c onsists o f a series of instructions stored in the main memory uni…
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
12
© 2012 Fisnar Inc.
SECTION 3: Teaching Overview
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
13
© 2012 Fisnar Inc.
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
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
14
© 2012 Fisnar Inc.
To dispense a bead of material in an arc, the XYZ location of the start of the line is
registered as a LINE START point type. The high point of the arc is registered as an ARC
POINT. The end of the arc is registered as a LINE END point:
Lines and arcs can also be combined to dispense a bead of material along a complex
path:
Once the required point locations for your program have been taught, the teach pendant is
no longer required. The unit can be switched to RUN mode and operated using the
buttons and switches on the main unit control panel.