1、09 Chapter 7 Advanced FunctionChapter 7 Advanced Function7-1 Dispense ConditionYou are allowed to set some parameters related to sealing in order to improve the quality of sealing work. A）Up Amount/Up Speed/Wait Up A-1) FunctionIn order to prevent the liquid which is sealed at points or lines from r
2、unning down to other places and to separate the product cleanly, the needle is lifted with low speed for short distance. Set the rising velocity and distance at this moment. Set the rising distance/ velocity/ stand-by time to Up Amount/ Up Speed/ Wait Up respectively.Move the distance at the speed a
3、s you set after sealing and move to Z Move (described below). A-2) How to setInstructionScreenPress Menu to see the Main Menu. Move cursor using 2 and 8 to select Program Date Setting and press ENT. You can see the following screen.Main MenuProgram Data SettingPointJobSettingData Save UtilitySystemS
4、ettingTestMove cursor using 2 and 8 to select Dispense Condition and press ENT. You can see the following screen. Program Data SettingName:Tool Data.Dispense Condition.Feed rate 100%Work Weight 2/2 B）Wait start Time 0.00s / Wait stop Time 0.00s B-1）Function- Wait start Time 0.00s： It is necessary th
5、at a certain time delay between the instant which the robot sends the signal and the instant which the robot actually dispenses liquid when relatively viscous liquid is used to seal the product. In order to prevent the robot from moving before dispensing liquid, set start delay time to Wait start. T
6、he robot reaches to working position and sends dispense signal. Then the robot delays at Wait start for set amount of time and moves.- Wait stop Time 0.00s: It takes a certain time to get a constant dispense pressure after dispensing. Set the time to Wait 0.00s stop. B-2) How to setInstructionScreen
7、Press Menu to display Main Menu. Move cursor using 2 and 8 to select Program Date Setting and press ENT. You can see the following screen.Main MenuProgram Data SettingPointJobSettingData Save UtilitySystemSettingTest Move cursor using 2 and 8 to select Dispense Condition and press ENT. You can see t
8、he following screen.Program Data SettingName:Tool Data.Dispense Condition.Feed rate 100%Work Weight 2/2* Diagram C）Dn Amount/Dn Speed C-1) FunctionZ-axis descent speed needs to be slowed down near the working point in order to reduce the vibration during precise work. In this case, set the descent d
9、istance and speed. C-2) How to setInstructionScreenPress Menu to display Main Menu. Move cursor using 2 and 8 to select Program Date Setting and press ENT. You can see the following screen. Main MenuProgram Data SettingPointJobSettingData Save UtilitySystemSettingTestMove cursor using 2 and 8 to sel
10、ect Dispense Condition and press ENT. You can see the following screen. Program Data SettingName:Tool Data.Dispense Condition.Feed rate 100%Work Weight 2/2 * D）Z Height （Z-axis height，Relative Mode）/ Z Position（Z-coordinate，Absolute Mode） D-1) Function：This is a function to lift Z-axis from one poin
11、t to another point to avoid obstacles. If there is no obstacle, less lifting makes working time shorter. Z-axis is divided into relative mode and absolute mode. Relative mode is the lifting height of Z-axis from working point and absolute mode is the Z-coordinate. Z Height = 10mm Relative Mode Z Pos
12、ition = 10mm Absolute D-2) How to setInstruction ScreenPress Menu to display Main Menu. Move cursor using 2 and 8 to select Program Date Setting and press ENT. You can see the following screen.Main MenuProgram Data SettingPointJobSettingData Save UtilitySystem SettingTest Move cursor using 2 and 8 t
13、o select PTP Condition and press ENT. You can see the following screen.Program Data SettingName:Tool Data.Dispense Condition.Feed rate 100%Work Weight 2/2 Here, it is relative mode. Set Z Height to use relative mode. If you set Z Height to 0, you do not use this function. Press ESC to exit and save.
14、To change the mode to absolute mode, move cursor using 2 and 8 to select Absolute Mode and press ENT. You can see the following screen. PTP ConditionPTP Speed 100%R Speed 100%Relative ModeZ Height 0.00mmR Acc. 100%Set Z Position directly. If you set Z Position to 0, you do not use this function. Pre
15、ss ESC to exit and save.PTP ConditionPTP Speed 100%R Speed 100%Absolute ModeZ Positon 0.00mmR Acc. 100%7-2 Program Name InputYou can find the program you need easily from the list if you name the program. How to input：InstructionScreenPress Menu to display Main Menu. Move cursor using 2 and 8 to sel
16、ect Program Date Setting and press ENT. You can see the following screen.Main MenuProgram Data SettingPointJobSettingData Save UtilitySystemSettingTestMove cursor using 2 and 8 to select Name： and press ENT. You can see the following screen.Program Data SettingName:Tool Data.Dispense Condition.Feed
17、rate 100%Work Weight 2/2 Move the cursor to the alphabet or figure you want to edit and press ENT. Press ESC to exit after editing and save. If you want to edit the name of program, press DEL. It is convenient to input the program name according to the name of the product and model.Name (ESC:Return)
18、ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmn Opqrstuvwxyz0123456789_.()!# Application of the program name：The following will appear if you turn the power on.Program No. 0001thNEWLISTF1F2F3Press F2 to see the saved program list. Once you have input the name of program, it will appear on the screen (see r
19、ight).Select Item1： SPEAKER2： 18133：F1F2F37-3 Input coordinates directly The robot can input the coordinates of points directly as well as by setting the coordinates with teaching. A) Input CoordinatesInstructionScreenIf you press F2 on the program edit screen, the cursor moves to MDI. You can input
20、 X-coordinate with number key. Press ENT after input.No. 2 0001 X +000.00mm Y +000.00mm Z +000.00mm R +000.00degJOG MDI INITInput Y-coordinate and press ENT.No. 2 0001 X +000.00mm Y +000.00mm Z +000.00mm R +000.00degJOG MDI INITInput Z-coordinate and press ENT.No. 2 0001 X +000.00mm Y +000.00mm Z +0
21、00.00mm R +000.00degJOG MDI INITInput R-coordinate and press ENT.No. 2 0001 X +000.00mm Y +000.00mm Z +000.00mm R +000.00degJOG MDI INITB）Moving ModeInput the coordinates and press ENT then the robot moves to the input point. Here, we set the moving mode.InstructionScreenPress Menu to display Main M
22、enu. Move cursor to select System Setting and press ENT. You can see the following screen.Main MenuProgram Data SettingPoint Job SettingData Save UtilitySystem SettingTestMove cursor to select Teaching Parameter and press ENT. You can see the following screen.System SettingDefault Prg.DataTeaching p
23、arameterPlayBack ParameterMotion ParameterLanguageMecha TypeMove cursor to select MDI Go Function and press ENT. You can see the following screen.Teaching ParameterMDI Go FunctionJog SpeedManual Job NumberPTP Speed：Moving speed. Set proportional to the speed set in the system settings.R Speed： R-axis speed Absolute Mode（Relative Mode）：Moving mode. If you set to Absolute Mode, it lifts Z-axis up as you set for Z Position and then moves. If you set to Relative Mode, it lifts Z-axis up as you set for Z Height and then moves. Z Posi
