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F4000N Series Operating Manual Section 4: Programming Example Part # 562187N - 1 Rev . D Sep 2012 30 © 20 12 Fisnar Inc. 3. Editing a P rogram Y o u can move through the instructions in an ex isting program by using the …

F4000N Series Operating Manual

Section 4: Programming Example

Part # 562187N-1

Rev. D Sep 2012

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)

F4000N Series Operating Manual

Section 4: Programming Example

Part # 562187N-1

Rev. D Sep 2012

3. Editing a Program

You can move through the instructions in an existing program by using the following keys:

Key

Function

▲

Moves forward (1) memory address

▼

Moves backward (1) memory address

▲

Moves to the first memory address in the program

▼

Moves to the last programmed memory address in the program

MOVE

Moves the tip to the XYZ point location of the selected point

JUMP

Jumps to display the specified memory address

3.1 Changing a Point’s XYZ location

To change the XYZ location of a point, press the ▲ or ▼ key until the point you want to

change is shown in the display.

You can confirm that the correct point is in the display by pressing the MOVE key. This will

cause the tip to move to the XYZ position shown in the display.

Now use the jog keys X,  X, Y and Y and the Z / Z keys to jog the tip to the new

location.

Once the location is correct, simply re-register the point as you did when it was first

taught, by pressing the F1/ENTER key and selecting the point type. The point will be re-

registered at the new location.

3.2 Insert / Delete an Instruction

 To insert an instruction, press the INS key. The point currently shown in the display

will be moved forward one memory address. A new, empty memory address will be

inserted at the current memory address.

 To delete the instruction currently shown in the display, press the DEL key, and

then press the F1 (Yes) key.

F4000N Series Operating Manual

Section 4: Programming Example

Part # 562187N-1

Rev. D Sep 2012

4. Changing the Program Number

The program number is selected by the program number selection switches on the main

unit‟s control panel.

Press the + and – buttons to select the program number.

Note: Program 99 is designed for “autorun” on Run mode. When starting the robot with

this program, the robot starts automatically without pressing the Start/Home key for

initialization.

5. Changing from Teach Mode to Run Mode

To change from Teach mode to Run mode, change the position of the mode switch on the

main unit‟s control panel.

When the machine is in Run mode, the teaching box (teach pendant) is not required.

Programs can be selected and run using the switches on the front control panel of the

main unit.