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F4000N Series Operating Manual Section 6: Sample Programs Part # 562187N - 1 Rev . D Sep 201 2 96 © 20 12 Fisnar Inc. Addr. Command Notes 0006 W AIT POINT - Time: 0.25 sec W ai t for 0.25 seconds. 0007 Set INPUT / OUTPUT…

F4000N Series Operating Manual

Section 6: Sample Programs

Part # 562187N-1

Rev. D Sep 2012

4. Input / Output Signal Processing – Sample Program

The program below assumes a fixture holding 12 parts. The robot will move to the first

part, then close output signal # 1 for 0.25 seconds.

The robot will then check the status of input signal #1 at the first part.

If the signal is closed, the robot will dispense a dot then move to the next part.

If the signal does not close within (2) seconds, the robot will skip this part and move to the

next part. This process will be repeated for all (12) parts.

Addr.

Command

Notes

0001

Point Dispense Setup

- Dispense Time: 0.50 sec

- Tail Time: 0.25 sec

Sets the dispensing time for all dots to 0.5

seconds.

Sets the waiting time, after dispensing a

dot, to 0.25 seconds.

0002

Dispense End Setup

- H. Speed: 75 mm/sec

- L. Speed: 15 mm/sec

- L. Length: 10 mm

Programs the robot to rise, after

dispensing.

The tip will rise 10 mm (L. Length) at

15 mm/sec (L. Speed) then continues rising

at 75 mm/sec (H. Speed) to the Z

Clearance height.

0003

Z Clearance

- 20 mm

- Relative

Sets the Z Clearance value to 20 mm

relative to the point location.

The maximum height the tip will rise after

dispensing is 20 mm above the Dot.

0004

Dummy Point (180, 20, 25)

Registers a 'Dummy' point at:

X: 180 mm, Y: 20 mm, Z: 25 mm

The tip will move to this XYZ location, but

will do nothing. This point is just above the

first part in the fixture.

0005

Set INPUT / OUTPUT

- Output

- Port #: 1

- Status: 1

Closes output signal # 1.

Output is turned 'on.'

F4000N Series Operating Manual

Section 6: Sample Programs

Part # 562187N-1

Rev. D Sep 2012

Addr.

Command

Notes

0006

WAIT POINT

- Time: 0.25 sec

Wait for 0.25 seconds.

0007

Set INPUT / OUTPUT

- Output

- Port #: 1

- Status: 0

Open output signal # 1.

Output is turned 'off.'

0008

Set INPUT / OUTPUT

- Input

- Port #: 1

- Status: 0

- GOTO Addr: 12

Check the status of input signal # 1.

If the input signal is closed (pin #1 is

connected to ground / pin 13), the robot will

go to address #0012.

If input signal #1 is open (pin #1 is not

connected to ground), the program will

continue at address #0009

0009

Wait Point

- Time: 0.20 seconds

Wait for 0.20 seconds.

0010

LOOP ADDRESS

- Count: 10

- Address: 8

Repeat instructions 0008 – 0009 (10)

times. (10) times a wait time of 0.20

seconds = 2.00 seconds.

0011

GOTO Addr. 0013

If, after 2.0 seconds, the input signal is not

closed, GOTO address #0013 (Skip the dot

dispensing).

0012

Dispense Dot (180,20,35)

Dispenses a dot at

X: 180 mm, Y: 20 mm, Z: 35 mm

(Dot on the first part in the fixture)

0013

Step & Repeat Y

- Columns: 4

- Rows: 3

- X Offset: 25 mm

- Y Offset: 30 mm

- Start Address: 4

- 'S' Path

Registers the Step & Repeat instruction.

The robot will repeat addresses 0004 –

0011 to complete a matrix of 4x3 (12)

parts.

The distance between parts is 25 mm in

the X-axis and 30 mm in the Y-axis.

The robot will follow an 'S' Path, through

the parts.

0014

End Program

Ends the program. Returns the tip to the

home position.

F4000N Series Operating Manual

Section 7: Error Messages and Specifications

Part # 562187N-1

Rev. D Sep 2012

SECTION 7: Error Messages and

Specifications