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F4000N Series Operating Manual Section 4: Programming Example Part # 562187N - 1 Rev . D Sep 2012 28 © 20 12 Fisnar Inc. Instruction Display Shows 10 Jog the tip to the location of the fourth point ( 4: Line Passing ). W…

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F4000N Series Operating Manual
Section 4: Programming Example
Part # 562187N-1
Rev. D Sep 2012
27
© 2012 Fisnar Inc.
Instruction
Display Shows
1
Follow the instructions found in SECTION 2:2.
Setup to setup the robot.
2
Select program 10 using the program number
selection switches on the main unit control panel.
Turn the power on.
[MACHINE HOME]
+------------+
| START/HOME |
+------------+
3
Press the START button. The robot will move to
the home position.
ADDR:1 PROG:10
EMPTY
X:0.00 Y:0.00 Z:0.00
4
Press the F4 (Setup) key, then 1 to select Line
Speed to register a line speed of 40 mm/second
at memory address number 1.
Line Speed Setup
----------------
Speed:
unit: mm/sec
5
The robot is now waiting for the speed to be
registered. Press 40 then ENTER to register a
speed of 40 mm / second.
ADDR:2 PROG:10
EMPTY
6
The display shows we are at memory address 2
and that it is empty.
Jog the dispensing tip to the first location in the
diagram above (1: Line Start).
To jog the X and Y-axes, press the arrow keys
X, X, Y and Y.
To jog the Z-axis, press the Z and Z keys.
Press and hold the FAST key to jog fast.
7
Once the tip is at the correct X, Y, Z location for
the first point (1: Line Start), press the
F1/ENTER key, then 2 to register the location as
a Line Start point.
ADDR:3 PROG:10
EMPTY
8
The display will show we are at memory address
3 and it is empty. Jog the tip to the X, Y, Z
location of the second point (2: Line Passing).
When the location is correct, press the
F1/ENTER key, then 3 to register the location as
a Line Passing point.
ADDR:4 PROG:10
EMPTY
9
Now jog the tip to the location of the third point
(3: Arc Point). When the location is correct,
press the F1/ENTER key, then 5 to register the
location as an Arc point.
ADDR:5 PROG:10
EMPTY
F4000N Series Operating Manual
Section 4: Programming Example
Part # 562187N-1
Rev. D Sep 2012
28
© 2012 Fisnar Inc.
Instruction
Display Shows
10
Jog the tip to the location of the fourth point
(4: Line Passing). When the location is correct,
press the F1/ENTER key, then 3 key to register
the location as a Line Passing point.
ADDR:6 PROG:10
EMPTY
11
Jog the tip to the location of the fifth point
(5: Line Passing). When the location is correct,
press the F1/ENTER key, then 3 to register the
location as a Line Passing point.
ADDR:7 PROG:10
EMPTY
12
Jog the tip to the location of the sixth point
(6: Line Passing). When the location is correct,
press the F1/ENTER key, then 3 to register the
location as a Line Passing point.
ADDR:8 PROG:10
EMPTY
13
Jog the tip to the location of the seventh point
(7: Line End). When the location is correct, press
the F1/ENTER key, then 6 to register the location
as a Line End point.
ADDR:9 PROG:10
EMPTY
14
The line is now complete. The next step is to
register the dispense settings for the dots.
Press the F4 (Setup) key, then 3 to register the
dot dispensing time.
Point Dispense Setup
--------------------
Dis. Time:
Tail Time:
unit: sec
15
Type 0.5 to register a dispensing time of 0.5
seconds, and then press ENTER.
Type 0.1 to register a waiting time after
dispensing of 0.1 seconds, and then press
ENTER.
ADDR:10 PROG:10
EMPTY
16
Jog the tip to the location of first dispense dot
(8: Dispense Dot). When the location is correct,
press the F1/ENTER key, then 1 to register the
location as a Dispense Dot.
ADDR:11 PROG:10
EMPTY
17
Jog the tip to the location of second dispense dot
(9: Dispense Dot). When the location is correct,
press the F1/ENTER key, then 1 to register the
location as a Dispense Dot.
ADDR:12 PROG:10
EMPTY
18
Jog the tip to the location of third dispense dot
(10: Dispense Dot). When the location is correct,
press the F1/ENTER key, then 1 to register the
location as a Dispense Dot.
ADDR:13 PROG:10
EMPTY
19
The program is now complete.
Press F1/ENTER, then 7 to register address 13
as the END of the program.
ADDR:14 PROG:10
EMPTY
20
To run the program, press the RUN key.
F4000N Series Operating Manual
Section 4: Programming Example
Part # 562187N-1
Rev. D Sep 2012
29
© 2012 Fisnar Inc.
2. Good Programming Practices
It is recommended to register the setup commands at the beginning of every program.
The following setup commands are the most commonly used:
Dispense End Setup
Point Dispense Setup
Line Dispense Setup
Line Speed
Z Clearance
Retract Setup
Adjust Position Setup
For a complete list and description of all the different setup commands, refer to
SECTION 3:3.5 Setup Menu (F4) and SECTION 5:5 F4 (Setup Menu)