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F4000N Series Operating Manual Section 5: Point T ype & Function Reference Part # 562187N - 1 Rev . D Sep 201 2 80 © 20 12 Fisnar Inc. 5.9 Adjust Posit ion Setup W hen the dispensing barrel or tip is removed and rep …
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
79
© 2012 Fisnar Inc.
5.8 Home Position Setup
Home Position Setup allows the user to change the location of the program home position.
The home position is the location to where the tip will move at the end of a program cycle
if the “End Program” or “Home Point” instruction is registered. The default home position
is (X=0, Y=0, Z=0).
To change the home position, jog the tip to the desired location for the new home position,
then press F4 (Setup)
Home Position Setup.
NOTE: When executing a program in TEACH MODE, the robot will move to the
mechanical home position (X=0, Y=0, Z=0) at the start of every program cycle. When
executing a program in RUN MODE, the robot will move to the home position set under
F4 (Setup)
Home Position Setup.
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
80
© 2012 Fisnar Inc.
5.9 Adjust Position Setup
When the dispensing barrel or tip is removed and replaced, the new tip is often in a
slightly different XYZ position than the old tip was. The F4000N robot series has a
software utility to adjust a program‟s origin, thereby correcting the tip‟s offset problem.
A reference point should be chosen someplace on the work piece fixture or on the work
piece itself. The reference point must be registered in the program data. This only needs
to be done one time, such as when the program is originally created.
Instruction
Display Shows
1
Jog the tip to the reference point (i.e. X=10,
Y=20, Z=30)
Or if the reference point is an existing point in
your program, press the MOVE key to bring the
tip to that XYZ location.
2
Press the F4 (Setup) key, and go to page two
[SETUP] 2/3
1 Home Position Setup
2 Adjust Position Setup
.
.
7 Acceleration
Press 2 to Select Adjust Position Setup. The
current point will be saved automatically. (The
point will not be registered at any address in the
program, but it will be saved as a global variable
for the current program)
Set Adjust Position
-------------------
X: 10
Y: 20
Z: 30
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
81
© 2012 Fisnar Inc.
When the tip/barrel is changed, use the following procedure to adjust the program‟s origin
for the new tip location:
Instruction
Display Shows
Switch the robot to RUN mode (the main unit
mode switch is in the RUN position)
Counter:0
+------------+
| START/HOME |
+------------+
1
Press the F1 key.
[Run Menu] 1/1
1. Reset Counter
2. Adjust Origin
3. Relocate Data
2
Press 2 to select Adjust Origin.
[MESSAGE BOX]
-------------------
Press [ENTER] Adjust
Position
-------------------
3
Press the Enter key. The tip will move to the
reference point previously saved (X=10, Y=20,
Z=30).
If the new tip‟s location is slightly different than
the last tip‟s location, you should see that the tip
is not exactly at the reference point
[MESSAGE BOX]
-------------------
Move TIP
-------------------
X10 Y20 Z30
4
Jog the tip to the correct location for the
reference point.
When the location is correct, press ENTER.
All the coordinates in the current program will be
offset to compensate the tip offset
[MACHINE HOME]
+------------+
| START/HOME |
+------------+