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F4000N Series Operating Manual Section 3: T eaching Overview Part # 562187N - 1 Rev . D Sep 2012 20 © 20 12 Fisnar Inc. 3.2 Menu 1 (F2) Below is a list of functions, which are found under the F2 (Menu 1) key: Function De…
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.
F4000N Series Operating Manual
Section 3: Teaching Overview
Part # 562187N-1
Rev. D Sep 2012
21
© 2012 Fisnar Inc.
3.3 Utility Menu (Within Menu1)
Below is a list of functions, which are found under Menu 1 (F2) -> Utility Menu:
Function
Description
Program
Opens the Program utility menu. Allows programs to be
copied, backed up, restored, or cleared.
Memory
Opens the Memory utility menu. Allows the robot
memory to be backed up, restored, or cleared.
Teach Pendant
Opens the Teach Pendant utility menu. Allows the
current program to be copied to the Teach Pendant for
transferring to another robot.
Relocate Data
Allows the position of a program to be corrected using
two reference points. Corrects for X offset, Y offset and
angle of rotation.
Lock Program
Locks or unlocks a program to enable or disable
program editing.
Password Setup
Allows the password to be set or reset for the current
program. Protects the program from unauthorized
editing.
Cycle Counter
Allows the operator to set a number to the program
cycle to run the program a number of times.
Key Beep
Enabling Key Beep to produce a beep every time a key
in the Teach Pendant is touched.
Test Function
Testing the Robot Sensor, Panel Connector, Input
Output signal, Teach Pendant and Motor.