F4000N_revD.pdf - 第20页
F4000N Series Operating Manual Section 3: T eaching Overview Part # 562187N - 1 Rev . D Sep 2012 19 © 20 12 Fisnar Inc. Function Description Call Program Jumps to the specified program number from within the current prog…
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
18
© 2012 Fisnar Inc.
3. Point Type & Function Summary
3.1 Point Menu (F1)
Below is a list of Point Types, which are found under the F1 key (Point menu):
Function
Description
Dispense Dot
Registers the current XYZ location as a Dispense point for dot
dispensing.
Line Start
Registers the current XYZ location as a Line Start point for line
dispensing.
Line Passing
Registers the current XYZ location as a Line Passing point. This is a
location on the line where the tip changes direction, such as at the
corner on a rectangle.
Circle
Registers a circle with the circle center at the current XYZ location. The
display will prompt the user for the circle diameter.
Arc Point
Registers the current XYZ location as an Arc point. Arc points are used
to dispense material in an arc or circle.
Line End
Registers the current XYZ location as a Line End point.
End Program
Registers the current memory address as the end of the program.
Dispense On /
Off
Registers an instruction which turns the dispenser on or off at the
current XYZ location.
GOTO
Address
Causes the program to jump to the specified memory address.
Step & Repeat
Registers an instruction that will re-run a selected group of memory
addresses, stepping by a user-defined distance in the X or Y-axis after
each copy. The matrix of parts is defined by specifying the number of
rows, the number of columns, the X offset and the Y offset.
Step & Repeat X indicates that the robot will give priority to the X-axis,
running the parts along the X-axis first.
Step & Repeat Y indicates that the robot will give priority to the Y-axis,
running the parts along the Y-axis first.
Brush Area
Causes the tip to „paint‟ the defined area. The painted area can be in
the form of a rectangle or a circle / spiral.
Call
Subroutine
Causes the machine to jump to a specified memory address and
execute the instructions found there. When the end program instruction
is reached, program execution will continue at address just after the call
Subroutine instruction.
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
19
© 2012 Fisnar Inc.
Function
Description
Call Program
Jumps to the specified program number from within the current
program.
Set I/O
Registers an instruction, which either sets the value of an output signal
or checks the status of an input signal.
Wait Point
After executing the current point (Line start, passing, etc) the robot will
wait a specified amount of time before moving to the next command.
Stop Point
After executing the current point (Line start, passing, etc), the robot will
wait until the start button is pressed before moving to the next
command.
Home Point
Registers an instruction to „home‟ all axes, sending them to the home
position. See the Setup Menu for instructions on changing the location
of the home position.
Loop Address
Causes the program to execute a group of memory addresses a user-
specified number of times.
Dummy Point
Registers the current XYZ location as a Dummy point. The tip will
simply pass through this point. Useful for avoiding obstacles on the
work piece.
Initialize
Registers an Initialize point. Causes the robot to perform a mechanical
initialization.
Label
Registers a label that can be used as a reference when used with the
GOTO address, Loop address, Set I/O, Step & repeat X, Step & repeat
Y and Call Subroutine commands.
Display
Counter
Shows a counter at the bottom of the teach pendant screen while a
program is running.
Loop Counter
The Loop Counter either clears or keeps the current tally of the counter
when an I/O signal is received. The tally is cumulatively added to the
current count on the display counter.
Dispense
Output Setup
Defines the dispense output port number for line dispense setup.
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
20
© 2012 Fisnar Inc.
3.2 Menu 1 (F2)
Below is a list of functions, which are found under the F2 (Menu 1) key:
Function
Description
Group Edit
Allows a function to be applied to a user-defined group
of memory addresses. Functions include copy, delete,
move, multiply line speed, multiply dispense times, apply
X Offset, apply Y Offset, apply Z Offset.
Expand Step & Repeat
Expands the memory address locations which would be
performed at a Step & Repeat instruction so individual
memory addresses of the repeated instructions can be
edited.
Program Name
Allows the user to register a name for the current
program number.
Z-axis Limit (mm)
Sets the MAXIMUM Z-axis value (the lowest tip
position). Once the Z-axis limit is set, the robot will
prevent the tip from jogging below the set location.
Initial Output Port
Sets the status of the output signals when the machine
is initialized.
Debug Speed
Sets the speed used when running in Debug mode.
Utility Menu
Opens the Utility Menu. See SECTION 3:3.3.
Jog Speed
Allows the user to set the tip jog speed for teach mode:
Low, Middle or High jog speed can be selected.
Adjust Origin
See SECTION 5:2.9 “Adjust Orgin”.
Control by RS232
Allows the robot to be controlled via the RS232 port.
Resume
Determines if a program will restart from point #1 or the
point at which it was interrupted if a program is stopped
by an emergency stop or the enclosure door switch
open signal.