F4000N_revD.pdf - 第86页
F4000N Series Operating Manual Section 5: Point T ype & Function Reference Part # 562187N - 1 Rev . D Sep 201 2 85 © 20 12 Fisnar Inc. 5.12 Auto Purge Setup After the end of a program, the tip will go to the home pos…
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
84
© 2012 Fisnar Inc.
The retract function requires the following parameters:
RETRACT LENGTH: the distance to travel away from the line end point.
RETRACT HEIGHT: the distance to rise as the tip moves away from the line end
(must be smaller than the value of Z clearance in that point).
RETRACT SPEED: the speed at which the tip moves along the retract path.
RETRACT TYPE: 0. NORMAL
1. BACK
2. SQUARE BACK
3. FORWARD
4. SQUARE FORWARD
Retract values will be used for all lines from the current memory address forward until
another Retract instruction is found or the function is canceled.
5.11 Quickstep
This function causes the robot to move very fast from one point to another reducing the
time of the dispensing cycle.
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
85
© 2012 Fisnar Inc.
5.12 Auto Purge Setup
After the end of a program, the tip will go to the home position and material will be purged
in a continuous loop according to the parameters registered in the Auto Purge Setup
command.
This command is very useful for two part materials that have a very short pot life.
For example, if a Wait Time of 5s and a Purge Time of 2s is registered in the Auto Purge
Setup, the following chart shows the Purge pattern.
5.13 ESTOP Output Status
After receiving the emergency stop signal, the robot can set the status of all the outputs
as:
INITIAL: The status (On/Off) of the outputs is set as the initial status set by the
Initial IO command.
KEEP OUTPUT STATUS: The status (On/Off) of the outputs is left as it was before
the emergency signal.
Time (s)
Dispenser OFF
Dispenser ON
Wait
Purge
2
7
5
12
10
15
F4000N Series Operating Manual
Section 5: Point Type & Function Reference
Part # 562187N-1
Rev. D Sep 2012
86
© 2012 Fisnar Inc.
5.14 Acceleration
Controls the acceleration of each axis. The value entered in this setting is a robot
parameter and its exact relation to the robot‟s acceleration is beyond the scope of this
manual.
In general, the value of the acceleration parameter is inversely related to the robot‟s
acceleration. A small value will result in a high acceleration and vice versa.
Very small values can make the motors slip and can cause the driver cards to over
heat.
The default value is 25 for all the axes and values lower than 15 are not
recommended.
5.15 Pause Status
Pause Status sets the position to which the tip will move after pressing the Start button.
There are two options:
Home position: The tip will move to the home position.
Stand: The tip will stay at the position where the Start button was pressed.