09 Chapter 7 Advanced Function.docx
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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
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