09 Chapter 7 Advanced Function.docx

09 Chapter 7 Advanced Function.docx

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09Chapter7AdvancedFunction

Chapter7AdvancedFunction

7-1DispenseCondition

Youareallowedtosetsomeparametersrelatedtosealinginordertoimprovethequalityofsealingwork.

A）UpAmount/UpSpeed/WaitUp

A-1）Function

Inordertopreventtheliquidwhichissealedatpointsorlinesfromrunningdowntootherplacesandtoseparatetheproductcleanly,theneedleisliftedwithlowspeedforshortdistance.Settherisingvelocityanddistanceatthismoment.Settherisingdistance/velocity/stand-bytimetoUpAmount/UpSpeed/WaitUprespectively.

MovethedistanceatthespeedasyousetaftersealingandmovetoZMove（describedbelow）.

A-2）Howtoset

Instruction

Screen

PressMenutoseetheMainMenu.Movecursorusing2and8toselectProgramDateSettingandpressENT.Youcanseethefollowingscreen.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

Movecursorusing2and8toselectDispenseConditionandpressENT.Youcanseethefollowingscreen.

ProgramDataSetting

Name:

ToolData..

DispenseCondition..

Feedrate100%

WorkWeight<8Kg

RSpeedLimit（CP）10

One-CycleOperation

RAcc.Limit（CP）100

PTPCondition..

ArcDecPoint200N

ReferencPoint

HomeJobNo000000

1/2>

<2/2

MovecursortoUpAmountandpressENT.PressESCtoexitafterediting.IfyousetUpAmountto0,youdonotusethisfunction.

SetUpSpeedandWaitUpinthesamewayandpressESC.Exitaftersaving.

DispenseCondition

DispenseCondition

NobusysignalOp.

DnSpeed10.00mm/s

DeviceSteadyMode

UpSpeed10.00mm/s

WaitStartTime0.00s

WaitUPTime0.00s

WaitstopTime0.00s

DnAmount0.00mm

UpAmount10.00mm

1/2>

<2/2

B）WaitstartTime0.00s/WaitstopTime0.00s

B-1）Function

-WaitstartTime0.00s：

Itisnecessarythatacertaintimedelaybetweentheinstantwhichtherobotsendsthesignalandtheinstantwhichtherobotactuallydispensesliquidwhenrelativelyviscousliquidisusedtosealtheproduct.Inordertopreventtherobotfrommovingbeforedispensingliquid,setstartdelaytimetoWait@start.Therobotreachestoworkingpositionandsendsdispensesignal.ThentherobotdelaysatWait@startforsetamountoftimeandmoves.

-WaitstopTime0.00s:

Ittakesacertaintimetogetaconstantdispensepressureafterdispensing.SetthetimetoWait0.00s@stop.

B-2）Howtoset

Instruction

Screen

PressMenutodisplayMainMenu.Movecursorusing2and8toselectProgramDateSettingandpressENT.Youcanseethefollowingscreen.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

Movecursorusing2and8toselectDispenseConditionandpressENT.Youcanseethefollowingscreen.

ProgramDataSetting

Name:

ToolData..

DispenseCondition..

Feedrate100%

WorkWeight<8Kg

RSpeedLimit（CP）10

One-CycleOperation

RAcc.Limit（CP）100

PTPCondition..

ArcDecPoint200N

ReferencPoint

HomeJobNo000000

1/2>

<2/2

SetWaitstart/Waitstop.IfyousetWaitstart/Waitstopto0,youdonotusethisfunction.PressESCtoexitandsave.

DispenseCondition

DispenseCondition

NobusysignalOp.

DnSpeed10.00mm/s

DeviceSteadyMode

UpSpeed10.00mm/s

WaitStartTime0.00s

WaitUPTime0.00s

WaitstopTime0.00s

DnAmount0.00mm

UpAmount10.00mm

1/2>

<2/2

*Diagram

C）DnAmount/DnSpeed

C-1）Function

Z-axisdescentspeedneedstobesloweddownneartheworkingpointinordertoreducethevibrationduringprecisework.Inthiscase,setthedescentdistanceandspeed.

C-2）Howtoset

Instruction

Screen

PressMenutodisplayMainMenu.Movecursorusing2and8toselectProgramDateSettingandpressENT.Youcanseethefollowingscreen.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

Movecursorusing2and8toselectDispenseConditionandpressENT.Youcanseethefollowingscreen.

ProgramDataSetting

Name:

ToolData..

DispenseCondition..

Feedrate100%

WorkWeight<8Kg

RSpeedLimit（CP）10

One-CycleOperation

RAcc.Limit（CP）100

PTPCondition..

ArcDecPoint200N

ReferencPoint

HomeJobNo000000

1/2>

<2/2

MovecursortoUpAmountandpressENT.PressESCtoexitafterediting.IfyousetDnAmountto0,youdonotusethisfunction.

SetDnSpeedinthesamewayandpressESC.Exitaftersaving.

DispenseCondition

DispenseCondition

NobusysignalOp.

DnSpeed10.00mm/s

DeviceSteadyMode

UpSpeed10.00mm/s

WaitStartTime0.00s

WaitUPTime0.00s

WaitstopTime0.00s

DnAmount0.00mm

UpAmount10.00mm

1/2>

<2/2

*설명도

D）ZHeight（Z-axisheight，RelativeMode）/ZPosition（Z-coordinate，AbsoluteMode）

D-1）Function：

ThisisafunctiontoliftZ-axisfromonepointtoanotherpointtoavoidobstacles.Ifthereisnoobstacle,lessliftingmakesworkingtimeshorter.Z-axisisdividedintorelativemodeandabsolutemode.RelativemodeistheliftingheightofZ-axisfromworkingpointandabsolutemodeistheZ-coordinate.

■ZHeight=10mmRelativeMode

■ZPosition=10mmAbsolute

D-2）Howtoset

Instruction

Screen

PressMenutodisplayMainMenu.Movecursorusing2and8toselectProgramDateSettingandpressENT.Youcanseethefollowingscreen.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

Movecursorusing2and8toselectPTPConditionandpressENT.Youcanseethefollowingscreen.

ProgramDataSetting

Name:

ToolData..

DispenseCondition..

Feedrate100%

WorkWeight<8Kg

RSpeedLimit（CP）10

One-CycleOperation

RAcc.Limit（CP）100

PTPCondition..

ArcDecPoint200N

ReferencPoint

HomeJobNo000000

1/2>

<2/2

Here,itisrelativemode.SetZHeighttouserelativemode.

IfyousetZHeightto0,youdonotusethisfunction.PressESCtoexitandsave.

Tochangethemodetoabsolutemode,movecursorusing2and8toselectAbsoluteModeandpressENT.Youcanseethefollowingscreen.

PTPCondition

PTPSpeed100%

RSpeed100%

RelativeMode

ZHeight0.00mm

RAcc.100%

SetZPositiondirectly.IfyousetZPositionto0,youdonotusethisfunction.PressESCtoexitandsave.

PTPCondition

PTPSpeed100%

RSpeed100%

AbsoluteMode

ZPositon0.00mm

RAcc.100%

7-2ProgramNameInput

Youcanfindtheprogramyouneedeasilyfromthelistifyounametheprogram.

Howtoinput：

Instruction

Screen

PressMenutodisplayMainMenu.Movecursorusing2and8toselectProgramDateSettingandpressENT.Youcanseethefollowingscreen.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

Movecursorusing2and8toselectName：

andpressENT.Youcanseethefollowingscreen.

ProgramDataSetting

Name:

ToolData..

DispenseCondition..

Feedrate100%

WorkWeight<8Kg

RSpeedLimit（CP）10

One-CycleOperation

RAcc.Limit（CP）100

PTPCondition..

ArcDecPoint200N

ReferencPoint

HomeJobNo000000

1/2>

<2/2

MovethecursortothealphabetorfigureyouwanttoeditandpressENT.PressESCtoexitaftereditingandsave.

Ifyouwanttoeditthenameofprogram,pressDEL.

Itisconvenienttoinputtheprogramnameaccordingtothenameoftheproductandmodel.

Name（ESC:

Return）

ABCDEFGHIJKLMNOPQRST

UVWXYZabcdefghijklmn

Opqrstuvwxyz01234567

89_.（）!

#

[]

Applicationoftheprogramname：

Thefollowingwillappearifyouturnthepoweron.

ProgramNo.0001th

NEW

LIST

F1

F2

F3

PressF2toseethesavedprogramlist.Onceyouhaveinputthenameofprogram,itwillappearonthescreen（seeright）.

SelectItem

1：

SPEAKER

2：

1813

3：

F1

F2

F3

7-3Inputcoordinatesdirectly

Therobotcaninputthecoordinatesofpointsdirectlyaswellasbysettingthecoordinateswithteaching.

A）InputCoordinates

Instruction

Screen

IfyoupressF2ontheprogrameditscreen,thecursormovestoMDI.YoucaninputX-coordinatewithnumberkey.PressENTafterinput.

No.20001

〉X+000.00mm

Y+000.00mm

Z+000.00mm

R+000.00deg

JOGMDIINIT

InputY-coordinateandpressENT.

No.20001

X+000.00mm

〉Y+000.00mm

Z+000.00mm

R+000.00deg

JOGMDIINIT

InputZ-coordinateandpressENT.

No.20001

X+000.00mm

Y+000.00mm

〉Z+000.00mm

R+000.00deg

JOGMDIINIT

InputR-coordinateandpressENT.

No.20001

X+000.00mm

Y+000.00mm

Z+000.00mm

〉R+000.00deg

JOGMDIINIT

B）MovingMode

InputthecoordinatesandpressENTthentherobotmovestotheinputpoint.Here,wesetthemovingmode.

Instruction

Screen

PressMenutodisplayMainMenu.MovecursortoselectSystemSettingandpressENT.Youcanseethefollowingscreen.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

MovecursortoselectTeachingParameterandpressENT.Youcanseethefollowingscreen.

SystemSetting

DefaultPrg.Data

Teachingparameter

PlayBackParameter

MotionParameter

Language

MechaType

MovecursortoselectMDIGoFunctionandpressENT.Youcanseethefollowingscreen.

TeachingParameter

MDIGoFunction

JogSpeed

ManualJobNumber

PTPSpeed：

Movingspeed.Setproportionaltothespeedsetinthesystemsettings.

RSpeed：

R-axisspeed

AbsoluteMode（RelativeMode）：

Movingmode.IfyousettoAbsoluteMode,itliftsZ-axisupasyousetforZPositionandthenmoves.IfyousettoRelativeMode,itliftsZ-axisupasyousetforZHeightandthenmoves.

ZPosi