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F4000N Series Operating Manual Section 5: Point T ype & Function Reference Part # 562187N - 1 Rev . D Sep 201 2 52 © 20 12 Fisnar Inc. 1.16 Wait Point Registers a Wait Point at the current X, Y , Z location. W hen ex…
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
51
© 2012 Fisnar Inc.
Addresses 7 and 8 comprise the subroutine that will be executed whenever it is called
within the main program. The coordinates in the body of the subroutine
(Xs,Ys,Zs,Xe,Ye,Ze) are not important; the critical information is the relative position to
each other. The actual work will be performed on the coordinates in the main body of the
program.
Before using the Call Subroutine instruction, the tip must be jogged to the first point
where the user wants the work to occur. This point must correspond to the relative first
point defined in the subroutine.
1.14 Call Program
Call Program will jump to the specified program number and execute the program data in
the destination program until the End Program command is reached. When the destination
program is executed, the robot will return to the calling program.
1.15 Set I/O
Set I/O registers an instruction, which either sets the value of an output signal or checks
the status of an input signal.
When the Set I/O function is registered, the user is prompted to select 1. Input or 2.
Output.
If 1. Input is selected; the user can enter the input Port (input # 1 – 8), the input Status
(1/0) and the address to GOTO if that input status occurs. The input status is (0) when the
input pin is connected to ground. The input status is (1) if the input pin is disconnected.
If 2.Output is selected, the user can enter the output Port (output # 0 – 8), and whether
the output should be turned ON or OFF.
Please see SECTION 6:Sample Programs for an example of the Set I/O instruction.
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
52
© 2012 Fisnar Inc.
1.16 Wait Point
Registers a Wait Point at the current X, Y, Z location. When executed, the tip will move to
that location and wait for the specified period of time.
1.17 Stop Point
Registers a Stop Point at the current X, Y, and Z location. When executed, the tip will
move to that location and wait until the start button is pressed.
1.18 Home Point
Registers an instruction to „HOME‟ all axes, by sending them to the home position. It
works like a “Move” command.
It works like an “End Program” function when registered at the end of the program. After
program completion, the dispensing tip moves to the home position. If used in the body of
the program, the tip is moved to the home position and the next instruction is executed.
This function uses the Home Position Setup coordinates (under F4 (Setup Menu)) if a new
home position is made. Otherwise, it uses the default home position (X=0, Y=0, Z=0).
See the Setup Menu for instructions on changing the location of the home position.
1.19 Loop Address
Registers an instruction, which will execute a group of instructions a user-specified
number of times.
When the Loop Address instruction is registered, the display will prompt for an Address
and Count.
Address is the memory address to jump to from the current address. This address must
be less than the current memory address.
Count is the number of times to execute the loop.
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
53
© 2012 Fisnar Inc.
1.20 Dummy Point
Registers the current XYZ location as a Dummy point. The tip will simply pass through this
point. A dummy point is useful for avoiding obstacles on the work piece.
1.21 Initialize
Registers an Initialize point causing the robot to perform a mechanical initialization. The tip
will home to position (0,0,0) and the robot will re-find the home position using the home
position sensors.
1.22 Label
Registers a label that can be used as a reference when used with the GOTO, Loop
address, Set I/O, Step & repeat X, Step & repeat Y and Call Subroutine commands.
Label can be used instead of Address number. A maximum of 64 labels is permitted per
program; each label can have up to 8 characters.
1.23 Display Counter
The Display Counter instruction shows a counter at the bottom of the teach pendant
screen while a program is running. Every time this instruction is executed, the counter
increases by one and is shown again on the screen. The counter begins at one (1).
1.24 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.