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Devicenet Fanuc
Devicenet Fanuc
Table of Contents
Page
Description
3.
1K Systems overview
12.
13.
1R Systems
15.
Trouble Shooting
18.
Dispensing Methods
21.
Nozzle Selecting
24.
Temperature conditioning
25.
Device Net
29.
33.
I/O Map
39.
42.
45.
Motion Planning
47.
Dispenser I/O
48.
49.
Seal Schedules
52.
Disperser Setup
54.
Equipment Delay
56.
57.
58.
Payload
1K Systems
Overview
Piston Rod
Material Vessel
Outlet Port
1K Systems
Overview
Main Components:
Linear Transducer
MLDT
Electrical Connector
Air Servo Valve
Air Cylinder
Solenoid Valves
Piston Rod
Seal Cartridge
PSI Transducer
Refill Valve (behind
material hose block)
Material Vessel
Dispense Valve
1K Systems
Overview
Linear Transducer:
Tells the system how
much material has
been dispensed.
Piston Rod:
Used to displace the
material in the
dispense chamber.
Refill Valve:
Uses air to operate.
When open connects
the pump pressure to
the material used in
refilling the material
chamber.
Pressure Transducer:
Used to tell the PC how
much pressure is in the
dispense chamber.
Dispense Valve:
Uses air to operate.
When open allows the
material to flow out of
the Dispense chamber.
1K Systems
Overview
MLDT
Magnetostrictive Linear
Displacement Transducer
Voltage Range 0-10vdc
Voltage
Voltage
fully
@home
dispensed
below
1
is
above
volt
9vdc
System Operation
At the start of the cycle the PC
takes a voltage reading (style
strobe) and then the system
dispenses. The piston
rod/magnet moves down the
voltage increases and when
the robot sends the Dispense
complete signal another
voltage reading is taken. The
first voltage is subtracted from
the second voltage. Then it is
multiplied by a kfactor to equal
volume dispensed in CC.
1K Systems
Overview
Pressure Transducer:
The pressure transducer tells the 1K system
how much pressure is in the dispense chamber.
It is designed so that it is flush mount. This
prevents material from packing around it and
giving inaccurate readings. The range of the
transducer is 0-5000 PSI with a 1-10VDC
output. 0psi = 1VDC.
To check the pressure transducer use the
following formula.
(Pressure x .0018) +1 = Voltage
Example: 700psi x .0018 +1 = 2.26v
The Transducer has a new feature of an trim
pot. To adjust, remove the screw cover on the
zero trim adjustment and turn the trim screw
until the voltage equals 1vdc with zero PSI on
the pressure transducer. Replace the trim screw
cover.
1K Systems
Overview
Servo
Valve
Pressure
Transducer
1K Systems
Overview
Servo
Valve
Pressure Loop:
If the robot velocity increases, the output is above 5V
when the pressure transducer feedback is subtracted
from it. A signal higher than 5V causes the Servo
Valve to send maximum pressure to the top of the air
cylinder and exhaust the bottom of the air cylinder.
The material pressure will increase.
Pressure
Transducer
1K Systems
Overview
Servo
Valve
Pressure
Transducer
1R
80 psi
1K
System
Psi
60
40
20
10
1K Systems
Overview
2.
2.
3.
4.
5.
6.
7.
11
1K Systems
Overview
2.
3.
4.
5.
6.
7.
12
1R Systems
Overview
Air PSI
50 PSI
0 PSI
25 PSI
50 PSI
75 PSI
50 PSI
Outlet PSI
1000 PSI
0 PSI
750 PSI
1500 PSI
2250 PSI
2000 PSI
13
1R Systems
Voltage
Pressure
0
1024
2047
3071
4095
0v
2.5v
5v
7.5v
10v
Overview
Air Servo
Regulator
Air
Air Pressure
Gauge
0 PSI
20 PSI
40 PSI
60 PSI
80 PSI
Material
Outlet
Gauge
Material
Inlet
Gauge
The regulator runs best when setup to run in the mid range. There should be 500 to
1000 PSI more pressure on the inlet gauge than the outlet gauge when the system is
dispensing. To adjust for this several factors come in effect Pump Pressure
Temperature Nozzle size Robot speed. The regulator can be purchased with
three different size valve seat combinations. A .281in. - B .312in. C .375in.
The housing are stamped with an A, B or C to identify them. The A size is normally
used for small beads and the C version is used with very thick viscosities and large
beads.
14
1R & 1K
Fault Recovery
Fault
Problem
1K only
1.
2.
3.
4.
5.
6.
Solution
Plugged tip
Expired Material
Low Dispense Pressures.
Plugged Material Filter.
Pump Pressure to Low
Plug in material path
1.
2,
3,
4.
5.
6.
15
1R & 1K
Fault
Problem
1R only
1K only
1R & 1K High Volume
Visually Verified Good Bead
1.
2.
3.
4.
Solution
Network Error
NOTE: Robot Controller must
be on before starting
Autostream controller..
16
Fault Recovery
1.
2,
3,
4.
1R & 1K
Fault
I/O Error
Autostream Panel Error
Problem
Solution
No Material Dispensed
NO Fault
Fault Recovery
17
Types of
Dispensing
Dispensing
Methods
Ingersoll-Rand
specializes in
delivering effective
solutions for high
viscosity industrial
Adhesive, Sealing,
and Lubrication
Applications.
Through the
years, IngersollRand has
developed
solutions for a
wide variety of
applications and
has refined them
into a flexible and
innovative
collection of
processes.
18
Types of
Dispensing
Dispensing
Methods
Applications:
Ingersoll-Rand Systems expertise crosses industrial and international boundaries
to provide the highest levels of technology and reliability to customers who have a
desire to improve value throughout the life of their product.
Joint Sealer
Penetrates and seals a
joint
Shaped Bead
Beads are shaped for
gasketing, workpiece
inconsistency, or vibration
dampening as well as for
special applications
19
Types of
Dispensing
Dispensing
Methods
Processes
Ingersoll-Rand Systems utilizes award winning technology and state-of-the-art
controls to provide the most effective and reliable processes available.
Streaming
Material is applied to the workpiece
by a thin jet so that the process is
not affected by inconsistencies in
the workpiece
Extrusion
Material is deposited onto the
workpiece directly where bead
shape is critical to its performance
String Dispersion
Provides a wide
application pattern
without atomizing
the material
Spraying
Airless application of materials in
a wide pattern of consistent
thickness
20
Types of
Dispensing
Nozzles
Nozzles
Ingersoll-Rand uses a wide variety of nozzles to dispense a array of different
materials in different applications. Specialty nozzles can be made.
21
Types of
Dispensing
Nozzles
Streaming vs Extruding
Streaming involves faster robot speeds (500-1500mm/s)
and higher pressures the extruding. The dispense system
creates a pressure behind a small orifice. The material is
forced out of the nozzle in the form of a small stream. The
larger the nozzle the less force the stream has and the
closer the nozzle needs to be programmed to the part.
Streaming can works if the work piece is horizontal, vertical
or overhead. Streaming is the preferred method of
dispensing.
22
Types of
Dispensing
Nozzles
Adaptors
Sometimes it is necessary to install an angle offset adaptor to
help make the programming easier. All of the angle adaptors
have tip orientations so that they can be installed on the
dispense valve in 90 deg. Rotations.
Adaptors can only be install on special dispense valves
Such as a 105B038D dispense valve or a 105B038xD 4 or 6
inch extended dispense valve.
403-114-30
403-114-45A
403-114A
403-114-90B
COLLARS
400-667
3/4 in. x 16 thd. .550
opening
Used with Extrusion Nozzles
400-667A
3/4 in. x 16 thd. .494 opening
Used with Standard Spray Tips
403-132
3/4 in. x 16 thd. .191 opening
Used with HV Type Spray Tips
23
403-043
7/8 in. x 14 thd. .500 opening
Used with Orientated Spray
Tips.
Types of
Dispensing
Temperature
Conditioning
Temperature
Temperature conditioning is used to create a stable environment so that the
viscosity of a material remains constant throughout the day. This will improve
the job to job quality of a bead. Temperature can be used to make a high
viscosity material dispensable without using excessive pump pressure. Some
materials can adhere to a oily panel better if the temperature is elevated.
Ingersoll-Rand uses water as a medium to condition the material. A closed loop
system pumps water through the dispense valve (point of application), dispense
head, conditioned hoses and header. The system has an electric heater and a
chiller to condition the water. A RTD resistive thermal detector is used to
measure the material as close to the nozzle as possible. The RTD feeds back
to the PC which in turn controls the temperature of the water.
60 deg. F
70 deg. F
80 deg. F
This example show the difference temperature can make. The
dispense pressure and robot speed is the same only the
temperature has been changed.
Shown is the PC
temperature window
which can be
displayed in Celsius
or Fahrenheit
The 100 ohm
platinum bulb RTD
JDS402 Robot Programming
24
Inputs/
Outputs
Device Net
Device Net
SLOT 3
SLOT 2
SLOT 1
Ingersoll-Rand use device net as a way of communicating from the robot to the
PC The robot is the master and the PC is the slave. Also the communication
from the PC to the Robot / Pedestal mount Junction box is device net PC is
the master and the J-box nodes are the slaves. Device net uses a 5 wire
connector that contains a 24vdc power, a high low CAN signal and a shield
(similar to a PLC cable). The cables are all shielded twisted pair wiring that
resists noise. The PC has communication cards installed one for each
network. The communication between the robot and the PC is configured to
have 64 inputs and 64 outputs.
Jumper Settings
EQUIPMENT 1
MAC ID 10
500 K BAUD
EQUIPMENT 2
MAC ID 12
500 K BAUD
25
Inputs/
Outputs
Device Net
PC Nodes
The PC uses several nodes to send inputs and outputs. The main control cabinet, each
dispense J-box and pump J-box will have a node. The node consists of a buss coupler,
which communicates with the controller card. Attached to the buss coupler an array of I/O
cards can be attached to it. Examples are 24vdc Input 24vdc Output Analog Input 010vdc Analog Output 0-10vdc.
25 = 32
24 = 16
23 = 8
22 = 4
21 = 2
20 = 1
The Node Addresses is the sum of the switches that are turned ON. Address #1 is shown.
Address #3 would have switches 1 & 2 ON since 1 + 2 = 3
Address #13 would have switches 1, 3, & 4 ON since 1 + 4 + 8 = 13
JDS402 Robot Programming
26
Inputs/
Outputs
Device Net
Jumper
Settings
No Jumper Settings
Jumper Setting
27
Inputs/
Outputs
Device Net
Terminator
Cable
Tee
Tee
Cable
Terminator
Dispenser
Node #1
Temperature
Conditioner/
main control
panel
Node #20
28
Pump System
Node #3
Inputs/
Outputs
Configuring
The Robot I/O
29
Inputs/
Outputs
Configuring
The Robot I/O
Fanuc Information
3. DeviceNet Board Setup and Configuration
3.1. Configuring and Connecting the DeviceNet Interface Daughterboards
Before you can connect the DeviceNet Interface daughterboards to devices on the DeviceNet network, you must
configure them properly. Use Procedure 3.1. to configure the daughterboards.
When you configure DeviceNet Interface daughterboards, you use two screens: the I/O DeviceNet Board List
screen and the I/O DeviceNet Board Detail screen. Refer to Table 3.1. and Table 3.2. for a listing and description of
each of the items on these screens.
Table 3.1. DeviceNet Board List Screen Items
ITEM
DESCRIPTION
Board
Comment
This is text you enter to describe the daughterboard. A comment is not required.
Rack
This is the I/O rack that will be used to configure the I/O used with the daughterboard on the
controller. DeviceNet Interface daughterboards must use racks 81 through 84:
Rack 81 - Daughterboard 1
Rack 82 - Daughterboard 2
Rack 83 - Daughterboard 3
Rack 84 - Daughterboard 4
You cannot change the rack number of a daughterboard.
Status
30
Inputs/
Outputs
Configuring
The Robot I/O
DESCRIPTION
Board
Status
This displays the status of the selected daughterboard: ONLINE, OFFLINE, ERROR.
Scanner Type
The model of scanner represented by this daughterboard. Currently two kinds are
supported: SST 5136-DN and SST 5136-DNP.
Motherboard
The type of motherboard used with the daughterboard. Currently there are two kinds:
"full-slot" and "wide-mini."
MAC-Id
This is the Media Access Control ID used by the daughterboard. It must have a value
of from 0 to 63. The MAC-Id must be different from the MAC-Ids of all other devices
on the network.
Baud Rate
This specifies the data rate used in transfers between the DeviceNet Interface board
and the devices on the network. Specify one of the following baud rates:
125 KB
250 KB
500 KB
Board Auto-restart
When this is set to ON, the board will automatically restart communication with the
DeviceNet network after a board or network error has occurred and the error situation
has been resolved. Setting this value to OFF turns off board auto-restart. The default
value is OFF.
The two valid values for this setting are LAST and ZERO, and this setting affects all
input I/O ports (digital, analog, group, and so forth) which have an assigned rack
value equal to the board's rack number. When the input resume state is set to LAST,
these input ports will retain their last known values if the port goes offline. When the
input resume state is set to ZERO, the port values are set to zero. The default value
is LAST.
Slave Status
Slave status indicates the status of the slave connection of this DeviceNet board. If
the slave connection is not enabled (if size of output from master and size of input to
master are 0), this field displays OFFLINE. If it is enabled and the remote master has
not yet connected, this field indicates IDLE and error DNET-125 is posted. If the
remote master is connected, this field displays ONLINE. This field is display only.
This sets the error severity level of the error DNET-125 that indicates the slave
connection is idle. Select WARN, STOP or PAUSE as required.
For slave operation, in which the R-J3iB controller acts as a slave to an external
master, this specifies the size of the output from the master to the daughterboard, in
bytes. See Figure 3.1..
For slave operation, in which the R-J3iB controller acts a slave to an external master,
this specifies the size of the input to the master from the daughterboard, in bytes.
See Figure 3.1..
31
Inputs/
Outputs
Configuring
The Robot I/O
Board List
Board Comment
1 [
] 81
2 [ Ingersoll] 82
3 [
] 83
4 [
] 84
1/4
Rack Status
OFFLINE
OFFLINE
OFFLINE
OFFLINE
1.To configure each daughterboard, move the cursor to the daughterboard you want to configure and
press F4, DETAIL. You will see a screen similar to the following.
Board Detai
lBoard: 1
Status: OFFLINE
Scanner type:
SST 5136-DN-104
Motherboard: Full-slot
1 MAC-ID:
0
2 Baud-rate:
500 KB
3 Board auto-restart: ON
4 Input resume state (rack 82): LAST
5 SLAVE Error Severity:
WARN
6 Size of output from master: 0 Bytes
7 Size of input to master:
0 bytes
1.Move the cursor to MAC-Id and type the MAC-Id. This must be a value from 0 to 63 and must be different
from the MAC-Id of any other device in the network. (choose 0)
2.Move the cursor to Baud-rate, and press the function key that corresponds to the baud rate you want to use:
For 125 KB, press F2.
For 250 KB, press F3.
For 500 KB, press F4.
3.Move the cursor to Board auto-restart to set the board auto-restart state:
To turn it on, press F2.
4.Move the cursor to input resume state to set the input resume state for the board:
If inputs are to retain their last state, press F2.
o
32
Inputs/
Outputs
Configuring
The Robot I/O
CAMI I/O:
Robot I/O Descriptions:
NA Common Standard Robot Interface (RS-4 CAMI SPECIAL)
ROBOT INPUTS EQUIPMENT#1
Dispense controller 1 DeviceNet channel 2 node 20
Robot input Description Signal name Node address
DI 161 Dispense 1 Ready diSL1Ready N20:I01
DI 162 Dispense 1 In Process diSL1InProcess N20:I02
DI 163 Dispense 1 Volume OK diSL1VolumeOK N20:I03
DI 164 Dispense 1 Major Fault diSL1MajorFault N20:I04
DI 165 Dispense 1 Minor Fault diSL1MinorFault N20:I05
DI 166 Dispense 1 Remote Start In Progress diSL1RmtStartInp N20:I06
DI 167 Dispense 1 Automatic Mode diSL1AutoMode N20:I07
DI 168 Dispense 1 Manual Mode diSL1ManMode N20:I08
DI 169 Dispense 1 De-Pressurized diSL1DePrsized N20:I09
DI 170 Dispense 1 Drum Empty diSL1DrumEmpty N20:I10
DI 171 Dispense 1 Flow Meter Bypassed diSL1FLMBypassed N20:I11
DI 172 (Reserved) (Reserved) N20:I12
DI 173 Dispense 1 meter Full diSL1MeterFull N20:I13
DI 174 Dispense 1 meter Empty diSL1MeterEmpty N20:I14
DI 175 Dispense 1 meter Pressurized diSL1MeterPrsizd N20:I15
DI 176 Dispense 1 meter Near Empty diSL1MeterNrEmty N20:I16
DI 177 (Reserved) (Reserved) N20:I17
DI 178 Dispense 1 Felt Advanced diSL1FeltAdvancd N20:I18
DI 179 Dispense 1 Primer Check Passed diSL1PrimeChkPas N20:I19
DI 180 Dispense 1 Primer Check Failed diSL1PrimeChkFld N20:I20
DI 181 Change Primer Brush diSL1ChangePBrsh N20:I21
DI 182 (Reserved) (Reserved) N20:I22
DI 183 (Reserved) (Reserved) N20:I23
DI 184 Dispense 1 Purge Request diSL1PurgeReq N20:I24
DI 185 Dispense 1 Purge in Process diSL1PurgeInPrcs N20:I25
DI 186 (Reserved) (Reserved) N20:I26
DI 187 Volume 1 Dispensed Data Bit 1 diSL1VolDatBit1 N20:I27
DI 188 Volume 1 Dispensed Data Bit 2 diSL1VolDatBit2 N20:I28
DI 189 Volume 1 Dispensed Data Bit 3 diSL1VolDatBit3 N20:I29
DI 190 Volume 1 Dispensed Data Bit 4 diSL1VolDatBit4 N20:I30
DI 191 Volume 1 Dispensed Data Bit 5 diSL1VolDatBit5 N20:I31
DI 192 Volume 1 Dispensed Data Bit 6 diSL1VolDatBit6 N20:I32
DI 193 Volume 1 Dispensed Data Bit 7 diSL1VolDatBit7 N20:I33
DI 194 Volume 1 Dispensed Data Bit 8 diSL1VolDatBit8 N20:I34
DI 195 Volume 1 Dispensed Data Bit 9 diSL1VolDatBit9 N20:I35
DI 196 Volume 1 Dispensed Data Bit 10 diSL1VolDatBit10 N20:I36
DI 197 Volume 1 Dispensed Data Bit 11 diSL1VolDatBit11 N20:I37
DI 198 Volume 1 Dispensed Data Bit 12 diSL1VolDatBit12 N20:I38
DI 199 (Reserved) (Reserved) N20:I39
DI 200 Dispense 1 Fault Data Bit 1 diSL1FaultBit1 N20:I40
DI 201 Dispense 1 Fault Data Bit 2 diSL1FaultBit2 N20:I41
DI 202 Dispense 1 Fault Data Bit 3 diSL1FaultBit3 N20:I42
DI 203 Dispense 1 Fault Data Bit 4 diSL1FaultBit4 N20:I43
DI 204 Dispense 1 Fault Data Bit 5 diSL1FaultBit5 N20:I44
DI 205 Dispense 1 Fault Data Bit 6 diSL1FaultBit6 N20:I45
DI 206 Dispense 1 Fault Data Bit 7 diSL1FaultBit7 N20:I46
DI 207 Dispense 1 Fault Data Bit 8 diSL1FaultBit8 N20:I47
DI 208 (Reserved) (Reserved) N20:I48
33
Inputs/
Outputs
Configuring
The Robot I/O
CAMI I/O:
Robot I/O Descriptions:
NA Common Standard Robot Interface (RS-4 CAMI SPECIAL)
ROBOT OUTPUTS EQUIPMENT #1 Dispense controller 1 DeviceNet channel 2 node 20
Robot Output Description Signal Name Node Address
DO 161 Dispense 1 Style Bit 1 doSL1StyleBit1 N20:O01
DO 162 Dispense 1 Style Bit 2 doSL1StyleBit2 N20:O02
DO 163 Dispense 1 Style Bit 3 doSL1StyleBit3 N20:O03
DO 164 Dispense 1 Style Bit 4 doSL1StyleBit4 N20:O04
DO 165 Dispense 1 Style Bit 5 doSL1StyleBit5 N20:O05
DO 166 Dispense 1 Style Bit 6 doSL1StyleBit6 N20:O06
DO 167 Dispense 1 Style Bit 7 doSL1StyleBit7 N20:O07
DO 168 Dispense 1 Style Bit 8 doSL1StyleBit8 N20:O08
DO 169 Dispense 1 Robot in Style doSL1RbtInStyle N20:O09
DO 170 Dispense 1 Style Strobe doSL1StyleStrobe N20:O10
DO 171 Dispense 1 Gun 1 On doSL1Gun1On N20:O11
DO 172 Dispense 1 Gun 2 On doSL1Gun2On N20:O12
DO 173 Dispense 1 Gun 3 On doSL1Gun3On N20:O13
DO 174 Dispense 1 Gun 4 On doSL1Gun4On N20:O14
DO 175 Dispense 1 Gun 5 On doSL1Gun5On N20:O15
DO 176 (Reserved) (Reserved) N20:O16
DO 177 Dispense 1 Dispense Complete doSL1DispenseCmp N20:O17
DO 178 Dispense 1 Remote Start doSL1RemoteStart N20:O18
DO 179 (Reserved) (Reserved) N20:O19
DO 180 Dispense 1 Pre-Pressure meter doSL1PrePressure N20:O20
DO 181 Dispense 1 Reload meter doSL1ReloadMeter N20:O21
DO 182 Dispense 1 De-pressure meter doSL1DepressMter N20:O22
DO 183 (Reserved) N20:O23
DO 184 Dispense 1 Clear Primer Complete doSL1ClrPrmrCmp N20:O24
DO 185 Dispense 1 Black Primer Complete doSL1BlkPrmrCmp N20:O25
DO 186 Dispense 1 Urethane Complete doSL1UrethaneCmp N20:O26
DO 187(Reserved) (Reserved) N20:O27
DO 188 Dispense 1 Advance Felt doSL1AdvanceFelt N20:O28
DO 189 Dispense 1 Waiting for Primer Data doSL1WaitPrimer N20:O29
DO 190 Dispense 1 Primer Brush Change Compete doSL1PrmrBrChCmp N20:O30
DO 191 (Reserved) (Reserved) N20:O31
DO 192 Dispense 1 OK to Purge doSL1OKToPurge N20:O32
DO 193 Dispense 1 Material Flow Command Bit 1 aoSL1MatFlow N20:O33
DO 194 Dispense 1 Material Flow Command Bit 2 aoSL1MatFlow N20:O34
DO 195 Dispense 1 Material Flow Command Bit 3 aoSL1MatFlow N20:O35
DO 196 Dispense 1 Material Flow Command Bit 4 aoSL1MatFlow N20:O36
DO 197 Dispense 1 Material Flow Command Bit 5 aoSL1MatFlow N20:O37
DO 198 Dispense 1 Material Flow Command Bit 6 aoSL1MatFlow N20:O38
DO 199 Dispense 1 Material Flow Command Bit 7 aoSL1MatFlow N20:O39
DO 200 Dispense 1 Material Flow Command Bit 8 aoSL1MatFlow N20:O40
DO 201 Dispense 1 Material Flow Command Bit 9 aoSL1MatFlow N20:O41
DO 202 Dispense 1 Material Flow Command Bit 10 aoSL1MatFlow N20:O42
DO 203 Dispense 1 Material Flow Command Bit 11 aoSL1MatFlow N20:O43
DO 204 Dispense 1 Material Flow Command Bit 12 aoSL1MatFlow N20:O44
DO 205 (Reserved) (Reserved) N20:O45
DO 206 (Reserved) (Reserved) N20:O46
DO 207 (Reserved) (Reserved) N20:O47
DO 208 (Reserved) (Reserved) N20:O48
Continued:
34
Inputs/
Outputs
Configuring
The Robot I/O
CAMI I/O:
Robot I/O Descriptions:
NA Common Standard Robot Interface (RS-4 CAMI SPECIAL)
ROBOT OUTPUTS EQUIPMENT #1 Dispense controller 1 DeviceNet channel 2 node 20
Robot Output Description Signal Name Node Address
DO 209 Dispense 1 Bead Shaping Command (bit 1) aoSL1BeadShp N20:O49
DO 210 Dispense 1 Bead Shaping Command (bit 2) aoSL1BeadShp N20:O50
DO 211 Dispense 1 Bead Shaping Command (bit 3) aoSL1BeadShp N20:O51
DO 212 Dispense 1 Bead Shaping Command (bit 4) aoSL1BeadShp N20:O52
DO 213 Dispense 1 Bead Shaping Command (bit 5) aoSL1BeadShp N20:O53
DO 214 Dispense 1 Bead Shaping Command (bit 6) aoSL1BeadShp N20:O54
DO 215 Dispense 1 Bead Shaping Command (bit 7) aoSL1BeadShp N20:O55
DO 216 Dispense 1 Bead Shaping Command (bit 8) aoSL1BeadShp N20:O56
DO 217 Dispense 1 Bead Shaping Command (bit 9) aoSL1BeadShp N20:O57
DO 218 Dispense 1 Bead Shaping Command (bit 10) aoSL1BeadShp N20:O58
DO 219 Dispense 1 Bead Shaping Command (bit 11) aoSL1BeadShp N20:O59
DO 220 Dispense 1 Bead Shaping Command (bit 12) aoSL1BeadShp N20:O60
DO 221 (Reserved) (Reserved) N20:O61
DO 222 (Reserved) (Reserved) N20:O62
DO 223 (Reserved) (Reserved) N20:O63
DO 224 Dispense 1 Fault Reset doSL1FaultReset N20:O64
35
Inputs/
Outputs
Configuring
The Robot I/O
CAMI I/O:
Robot I/O Descriptions:
NA Common Standard Robot Interface (RS-4 CAMI SPECIAL)
ROBOT INPUTS EQUIPMENT #2
DeviceNet channel 2 node 22
Dispense controller 2/robot digital inputs
Robot input Description Signal name Node address
DI 225 Dispense 2 Ready diSL2Ready N22:I01
DI 226 Dispense 2 In Process diSL2InProcess 22:I02
DI 227 Dispense 2 Volume OK diSL2VolumeOK N22:I03
DI 228 Dispense 2 Major Fault diSL2MajorFault N22:I04
DI 229 Dispense 2 Minor Fault diSL2MinorFault N22:I05
DI 230 Dispense 2 Remote Start In Progress diSL2RmtStartInp N22:I06
DI 231 Dispense 2 Automatic Mode diSL2AutoMode N22:I07
DI 232 Dispense 2 Manual Mode diSL2ManMode N22:I08
DI 233 Dispense 2 De-Pressurized diSL2DePrsized N22:I09
DI 234 Dispense 2 Drum Empty diSL2DrumEmpty N22:I10
DI 235 Dispense 2 Flow Meter Bypassed diSL2FLMBypassed N22:I11
DI 236 (Reserved) (Reserved) N22:I12
DI 237 Dispense 2 meter Full diSL2MeterFull N22:I13
DI 238 Dispense 2 meter Empty diSL2MeterEmpty N22:I14
DI 239 Dispense 2 meter Pressurized diSL2MeterPrsizd N22:I15
DI 240 Dispense 2 meter Near Empty diSL2MeterNrEmty N22:I16
DI 241 (Reserved) (Reserved) N22:I17
DI 242 Dispense 2 Felt Advanced diSL2FeltAdvancd N22:I18
DI 243 Dispense 2 Primer Check Passed diSL2PrimeChkPas N22:I19
DI 244 Dispense 2 Primer Check Failed diSL2PrimeChkFld N22:I20
DI 245 Dispense 2 Change Primer Brush diSL2ChangePBrsh N22:I21
DI 246 (Reserved) (Reserved) N22:I22
DI 247 (Reserved) (Reserved) N22:I23
DI 248 Dispense 2 Purge Request diSL2PurgeReq N22:I24
DI 249 Dispense 2 Purge in Process diSL2PurgeInPrcs N22:I25
DI 250 (Reserved) (Reserved) N22:I26
DI 251 Volume 2 Dispensed Data Bit 1 diSL2VolDatBit1 N22:I27
DI 252 Volume 2 Dispensed Data Bit 2 diSL2VolDatBit2 N22:I28
DI 253 Volume 2 Dispensed Data Bit 3 diSL2VolDatBit3 N22:I29
DI 254 Volume 2 Dispensed Data Bit 4 diSL2VolDatBit4 N22:I30
DI 255 Volume 2 Dispensed Data Bit 5 diSL2VolDatBit5 N22:I31
DI 256 Volume 2 Dispensed Data Bit 6 diSL2VolDatBit6 N22:I32
DI 257 Volume 2 Dispensed Data Bit 7 diSL2VolDatBit7 N22:I33
DI 258 Volume 2 Dispensed Data Bit 8 diSL2VolDatBit8 N22:I34
DI 259 Volume 2 Dispensed Data Bit 9 diSL2VolDatBit9 N22:I35
DI 260 Volume 2 Dispensed Data Bit 10 diSL2VolDatBit10 N22:I36
DI 261 Volume 2 Dispensed Data Bit 11 diSL2VolDatBit11 N22:I37
DI 262 Volume 2 Dispensed Data Bit 12 diSL2VolDatBit12 N22:I38
DI 263 (Reserved) (Reserved) N22:I39
DI 264 Dispense 2 Fault Data Bit 1 diSL2FaultBit1 N22:I40
DI 265 Dispense 2 Fault Data Bit 2 diSL2FaultBit2 N22:I41
DI 266 Dispense 2 Fault Data Bit 3 diSL2FaultBit3 N22:I42
DI 267 Dispense 2 Fault Data Bit 4 diSL2FaultBit4 N22:I43
DI 268 Dispense 2 Fault Data Bit 5 diSL2FaultBit5 N22:I44
DI 269 Dispense 2 Fault Data Bit 6 diSL2FaultBit6 N22:I45
DI 270 Dispense 2 Fault Data Bit 7 diSL2FaultBit7 N22:I46
DI 271 Dispense 2 Fault Data Bit 8 diSL2FaultBit8 N22:I47
DI 272 (Reserved) (Reserved) N22:I48
36
Inputs/
Outputs
Configuring
The Robot I/O
CAMI I/O:
Robot I/O Descriptions:
NA Common Standard Robot Interface (RS-4 CAMI SPECIAL)
General Motors Corporation NA Controls, Robotics & Welding
Dispense controller 2/robot digital outputs
Robot output Description Signal name Node address
DO 225 Dispense 2 Style Bit 1 doSL2StyleBit1 N22:O01
DO 226 Dispense 2 Style Bit 2 doSL2StyleBit2 N22:O02
DO 227 Dispense 2 Style Bit 3 doSL2StyleBit3 N22:O03
DO 228 Dispense 2 Style Bit 4 doSL2StyleBit4 N22:O04
DO 229 Dispense 2 Style Bit 5 doSL2StyleBit5 N22:O05
DO 230 Dispense 2 Style Bit 6 doSL2StyleBit6 N22:O06
DO 231 Dispense 2 Style Bit 7 doSL2StyleBit7 N22:O07
DO 232 Dispense 2 Style Bit 8 doSL2StyleBit8 N22:O08
DO 233 Dispense 2 Robot in Style DoSL2RbtInStyle N22:O09
DO 234 Dispense 2 Style Strobe doSL2StyleStrobe N22:O10
DO 235 Dispense 2 Gun 1 On doSL2Gun1On N22:O11
DO 236 Dispense 2 Gun 2 On doSL2Gun2On N22:O12
DO 237 Dispense 2 Gun 3 On doSL2Gun3On N22:O13
DO 238 Dispense 2 Gun 4 On doSL2Gun4On N22:O14
DO 239 Dispense 2 Gun 5 On doSL2Gun5On N22:O15
DO 240 (Reserved) (Reserved) N22:O16
DO 241 Dispense 2 Dispense Complete doSL2DispenseCmp N22:O17
DO 242 Dispense 2 Remote Start doSL2RemoteStart N22:O18
DO 243 (Reserved) (Reserved) N22:O19
DO 244 Dispense 2 Pre-Pressurize meter doSL2PrePressure N22:O20
DO 245 Dispense 2 Reload meter doSL2ReloadMeter N22:O21
DO 246 Dispense 2 De-Pressure meter doSL2DepressMter N22:O22
DO 247 (Reserved) (Reserved) N22:O23
DO 248 Dispense 2 Clear Primer Complete doSL2ClrPrmrCmp N22:O24
DO 249 Dispense 2 Black Primer Complete doSL2BlkPrmrCmp N22:O25
DO 250 Dispense 2 Urethane Complete doSL2UrethaneCmp N22:O26
DO 251 (Reserved) (Reserved) N22:O27
DO 252 Dispense 2 Advance Felt doSL2AdvanceFelt N22:O28
DO 253 Dispense 2 Waiting for Primer Data doSL2WaitPrimer N22:O29
DO 254 Dispense 2 Primer Brush Change Complete doSL2PrmrBrChCmp N22:O30
DO 255 (Reserved) (Reserved) N22:O31
DO 256 Dispense 2 OK to Purge doSL2OKToPurge N22:O32
DO 257 Dispense 2 Material Flow Command (bit 1) aoSL2MatFlow N22:O33
DO 258 Dispense 2 Material Flow Command (bit 2) aoSL2MatFlow N22:O34
DO 259 Dispense 2 Material Flow Command (bit 3) aoSL2MatFlow N22:O35
DO 260 Dispense 2 Material Flow Command (bit 4) aoSL2MatFlow N22:O36
DO 261 Dispense 2 Material Flow Command (bit 5) aoSL2MatFlow N22:O37
DO 262 Dispense 2 Material Flow Command (bit 6) aoSL2MatFlow N22:O38
DO 263 Dispense 2 Material Flow Command (bit 7) aoSL2MatFlow N22:O39
DO 264 Dispense 2 Material Flow Command (bit 8) aoSL2MatFlow N22:O40
DO 265 Dispense 2 Material Flow Command (bit 9) aoSL2MatFlow N22:O41
DO 266 Dispense 2 Material Flow Command (bit 10) aoSL2MatFlow N22:O42
DO 267 Dispense 2 Material Flow Command (bit 11) aoSL2MatFlow N22:O43
DO 268 Dispense 2 Material Flow Command (bit 12) aoSL2MatFlow N22:O44
DO 269 (Reserved) (Reserved) N22:O45
DO 270 (Reserved) (Reserved) N22:O46
DO 271 (Reserved) (Reserved) N22:O47
DO 272 (Reserved) (Reserved) N22:O48
37
Inputs/
Outputs
Configuring
The Robot I/O
CAMI I/O:
Robot I/O Descriptions:
NA Common Standard Robot Interface (RS-4 CAMI SPECIAL)
General Motors Corporation NA Controls, Robotics & Welding
June 2002 26
Dispense controller 2/robot digital outputs (Continued)
Robot output Description Signal name Node address
DO 272 (Reserved) (Reserved) N22:O48
DO 273 Dispense 2 Bead Shaping Command (bit 1) aoSL2BeadShp N22:O49
DO 274 Dispense 2 Bead Shaping Command (bit 2) aoSL2BeadShp N22:O50
DO 275 Dispense 2 Bead Shaping Command (bit 3) aoSL2BeadShp N22:O51
DO 276 Dispense 2 Bead Shaping Command (bit 4) aoSL2BeadShp N22:O52
DO 277 Dispense 2 Bead Shaping Command (bit 5) aoSL2BeadShp N122:O53
DO 278 Dispense 2 Bead Shaping Command (bit 6) aoSL2BeadShp 22:O54
DO 279 Dispense 2 Bead Shaping Command (bit 7) aoSL2BeadShp N22:O55
DO 280 Dispense 2 Bead Shaping Command (bit 8) aoSL2BeadShp N22:O56
DO 281 Dispense 2 Bead Shaping Command (bit 9) aoSL2BeadShp N22:O57
DO 282 Dispense 2 Bead Shaping Command (bit10) aoSL2BeadShp N22:O58
DO 283 Dispense 2 Bead Shaping Command (bit 11) aoSL2BeadShp N22:O59
DO 284 Dispense 2 Bead Shaping Command (bit 12) aoSL2BeadShp N22:O60
DO 285 (Reserved) (Reserved) N22:O61
DO 286 (Reserved) (Reserved) N22:O62
DO 287 (Reserved) (Reserved) N22:O63
DO 288 Dispense 2 Fault Reset DoSL2FaultReset N22:O64
Copyright 2002. General Motors Corporation. All rights reserved.
--Uncontrolled when Printed
38
Inputs/
Outputs
Automatic
Sequence
2.
3.
Robot Sends Body Style 1-255 (0 body style is a purge routine NO Volume
Limits). Sent as a 8 bit Group Output. The style can be put into the program two
ways.
a. The style bit can be inserted in the path program.
b. The style bit can be inserted in the DETAILS of a JOB in the PART ID if
the job is configured for the disperser to be true. A separate job
is required for each body style and the style strobe is automatically sent
if the job is run.
4.
Robot Sends a Style Strobe (pulsed bit locks in body style 250ms) Body style
appears in PC Watch Window.
a. The style bit can be turned off.
b. The InProcess bit goes high and the Volume OK bit goes Low.
The system is in a Dispensing Mode (if precharge value is enabled)
5.
Robot Sends a 12 bit Group Flow Command signal (0-4095 Max) and the Gun On
signal to start dispensing. The Gun On can go on and off.
6.
When the robot is done dispensing for 250ms (gun=off) check for the Volume OK
signal to be LOW. If it is high the device network could be lock up (not
responding) and the robot should fault out.
7.
8.
If there were no faults the Volume OK signal will go High and the dispense ready
signal will stay high.
9.
39
Inputs/
Outputs
Automatic
Sequence
HAND SHAKIN
ROBOT OUTP
REMOTE STA
BCD ID
STYLE STROB
(MUST TU
BEFOREE
CYCLE)
DISPENSE GU
DISPENSE CO
(AT END
DISPENS
MUST BE
DISPENSE CO
(ANY OTH
1.
2.
Change the style select macros (there is one for E1 & E2) and add a wait statement for the
INPROCESS signal to equal OFF at the start of the process.
Equipment #1 In process is DI 162 and Equipment #2 is DI 226
a. Add a fault time out across the wait statement for about 2 seconds.
Change the dispense complete macro (there is one for E1 and E2) to check the Volume OK signal.
Equipment 1 Volume OK is DI 163 and E2 is DI 227.
a. At the beginning of the macro and a wait statement for Volume OK to equal OFF.
b. After the Dispense Complete Signal E1 DO 177 or E2 DO 241add another wait
statement .
c. Wait for Volume OK E1 DI 163 or E2 DI 227 to equal ON.
d. Add a fault time out across the wait statements for about 2 seconds.
The fault time out across the wait statement prevents the robot from sitting
for extended periods without showing a fault.
40
Inputs/
Outputs
Automatic
Sequence
This Graph
shows bad
TCPP
Programming
This Graph
shows a
normal TCPP
Programming.
Can you find
the glitch?
41
TCPP
Robot
Programming
13:L
14:L
10:L 9:L
8:L
36:L SS[102]
31:L SS[101]
32:L
33:L
34:L
35:L
37:L
38:L
39:L
40:L SS[108]
42:L SS[102] 41:L
+Y
18:L SS[104]
20:L SS[102]
21:L
43:L SS[109]
45:L SS[102] 44:L
46:L
49:L SS[102]
48:L
50:L SS[111]
22:L SS[105]
47:L SS[110]
26:L SS[107]
24:L SS[102]
25:L SS[106]
5:L SS[1]
30:L SS[1]
7:L
12:L
6:L SS[101]
11:L SS[102]
If the dispense path is very simple and straight direct voltage is normally used. Any
voltage from 0-10v (0-4095) can be used to achieve the bead size. However if the
dispense path is more complicated (see diagraph below) TCPP is normally used.
Direct Voltage is easier to setup then TCPP
HOT EDIT
COORDINATES
51:L SS[112]
+X
27:L SE
52:L SE
42
TCPP
Robot
Programming
1.
2.
3.
The flow control signal from the robot to the dispenser must be sent before it
is actually required (equipment delay).
The flow control signal must be scaled so that at various robot speeds the
signal received by the dispensing equipment is correct for that robot speed.
The dispensing equipment must be responsive enough to match the
accel/decel changes of the robot. The Robot/Dispense combination for these
three items is as follows;
The Robot controller accurately predicts the TCP (tool center point) velocity
which is adjustable up to 200ms in advance of any programmed point.
The scaling of the signal will be determined during Bead Width Calibration
during set up which is a Bead width (volume) vs. voltage relation.
The flow control shot meter is directly coupled to the dispensing gun
providing response of about 50 ms which is matched to the time when the
TCP (Tool Center Point) velocity is provided.
Dispense Response Requirements
Shifted Response Representing 50ms of Robot TCP Predict
Required Pressure Tolerance Range w.r.t TCP Command Signal
600
1800
500
1600
400
1400
300
1200
200TCP Speed
Robot
1000 Dispens
100
800
600
1
51
101
151
201
251
301
351
401
451
501
43
TCPP
Robot
Programming
44
TCPP
Motion
Planning
Motion Planning
It is very important to correctly program the path if TCPP is being used. The
motion should be smooth and not jerky. Try to use the 4th, 5th and 6th axes as Little
as possible. When these axes are moved they accelerate the flow command
signal. The signal in no longer stable and starts to oscillate. Try to do most of the
motion with the 1st, 2nd and 3rd axes. The following are some programming rules
that help create better dispense beads:
1.
2.
Do Not change the coordinate system during dispensing. This include leading
in and leading out.
3.
Do A lead in and lead out point is required before a SS or SE. Normally the
point is 4 inches before the bead start or end.
4.
Do No run the dispense equipment if the command voltage is over 80% of the
signal. The system will not repeat.
5.
6.
Do Not run an adhesive over 100F. It will accelerate the curing of the material.
7.
Have batch compensation OFF and the Global Scaling at 100% and the Offset at
0 when programming.
8.
3
1
2
Most panels are not flat and the preferred dispense orientation is perpendicular from the
panel (see diagram above). When the dispense head is re-orientated the 4th, 5th and 6th
axes must be used. To do this it is best to use the motion of the robot. Start at point #1
and insert a node perpendicular to the panel. Move the robot to point #3 and insert another
node. Move the robot from node 3 to node 1 at a slow speed. Stop the robot halfway and
only use the first 3 axes to move the robot to point #2. If more points are needed so that
the arc is smooth add them in the same manner. When finished the robot will have a
smooth motion and a gradual change in the flow command signal.
45
TCPP
Motion
Planning
Motion Planning
The Process of doing a corner is very simple with TCPP. Just put a point in the
corner and a lead in and lead out point about 1.5 inches (3.81 centimeter) from
the corner point. The normal robot motion will round the corner with 100 CNT.
To make the corner sharper lower the CNT values in the corner until the
sharpness of the corner is obtained. See Example below. Notice that the lower
the CNT value are set the sharper the corner are. The robot will slow down in the
corners and the command voltage will drop automatically otherwise the corners
will have extra material in them. If direct voltage is used the voltage needs to be
changed at all three points of the corner.
NOTE: DO NOT USE A CNT VALUE BELOW 50.
When teaching the robot path program. It is very important to try to keep the nozzle
perpendicular from the panel. It is not always possible to do this if the nozzle needs
to be angled try to have the bead follow instead of leading. This will effect the look of
the bead. It is very important to find the robot speed Before TCPP values are
adjusted.
Ideally keep
the nozzle
perpendicular
Last choice
have the bead
lead.
Robot Direction
JDS402 Robot Programming
46
TCPP
Dispenser
I/O
PT
[ 1]
[ 2]
[ 3]
[ 4]
[ 5]
[ 6]
[ 7]
SIM
U
U
U
U
U
U
U
VALUE
OFF
OFF
OFF
OFF
OFF
OFF
OFF
To change between the input and output screens , press F3, IN/OUT. You will see a screen
similar to the following.
OUT
DO
GO
GO
DO
DO
GO
PT
[ 1]
[ 1]
[ 2]
[ 2]
[ 1]
[ 2]
SIM
U
U
U
U
U
U
VALUE
OFF
0
0
OFF
0
0
Note: This screen is very handy to use The outputs can be fired and
the inputs can be monitored.
JDS402 Robot Programming
47
TCPP
Tuning the
Dispenser
The first step in this process it to complete the path program. It is essential to
know the robot speed. All of the adjustments for TCPP must be done at the
normal run speed of the robot. The robot path program is normally taught first so
that the cycle time can be established. If the cycle time is not met the path may
need to taught faster.
2.
3.
4.
Run the path program and note the bead size. The bead size will not normally
be the size you need. It will need to be adjusted.
5.
6.
The Dispense system needs to run in the mid range before TCPP calibrations are
attempted. If the equipment is running a 2 or 9 volts flow command the system
will not be able to alter the flow command enough to effectively make TCPP
work.
SS
SE
48
TCPP
Seal
Schedules
Seal Schedules
1.
The Seal Schedules can be accessed by depressing the DATA button and then F1
Seal Schedules.
2.
This is where the system can be set up for direct voltage or TCPP Bead Width
calibration. There are 30 seal schedules for each equipment. More than one seal
schedule or type (TCPP or Direct Voltage) can be used in a path program. A signal
path program can consist of direct voltage and TCPP Bead Width Variables.
a.
An example of using both variables in one program would be if there was an
area of the panel that needed to be filled. If BW was chosen and the robot
was not moving the command signal would be 0.
1 Press DATA.
2 Press F1, [TYPE].
3 Select Seal Sched. If the following screen is not displayed, press F2, LISTING. You will see a screen
similar to the following.
NOTE The number of the currently selected equipment is displayed in the middle of the title line
on every screen. The currently selected equipment for the screens in this procedure is equipment
1, E1.
49
TCPP
Seal
Schedules
Seal Schedules
1.
Under The dispense style depress F2 for the LISTINGS of the body styles. Another
screen will show some of the specific adjustable information for each individual body
styles.
DATA Seal Sched
E1
Variable Orifice System
1 Schedule # 1
2 Flow type:
3 Flow model:
4 Flow rate:
5 Guns used:
6 Equip. ant-time:
7 Eq. additn. ant-time:
8 Gun on ant-time:
9 Gun off ant-time:
10 Bead shaping (BS):
11 BS on ant-time:
12 BS off ant-time:
13 Pre-pressure time:
14 De-pressure time:
15 Correction factor:
16 Correction bias:
17 SS time offset:
18 SE time offset:
2.
50
TCPP
Seal
Schedules
Seal Schedules
Continued:
DATA Seal Sched
E1
Variable Orifice System
1 Schedule # 1
2 Flow type:
3 Flow model:
4 Flow rate:
5 Guns used:
6 Equip. ant-time:
7 Eq. additn. ant-time:
8 Gun on ant-time:
9 Gun off ant-time:
10 Bead shaping (BS):
11 BS on ant-time:
12 BS off ant-time:
13 Pre-pressure time:
14 De-pressure time:
15 Correction factor:
16 Correction bias:
17 SS time offset:
18 SE time offset:
g.
(9) Gun off Ant:time. This item indicates the anticipation time between
when the robot reaches the destination position and when the gun is
turned off. If you want the gun to turn off before the robot reaches the
destination position, set Gun off ant-time to a negative number. If you
want the gun to turn off after the robot reaches the destination position,
set Gun off ant-time to a positive number.
h.
(10) Bead shaping is normally not used. The BPR system uses bead
shaping and calls out a GO = xxxx directly from the path program.
I.
(15) The Corrector Factor should always be set to 1.0 this value
multiplies the flow command by a percentage (1.0 = 100%).
j.
(16) Correction bias should always be set to 0v this value adds or
subtracts direct voltage to the flow command.
The rest of the values are not mentioned and are normally not used:
NOTE: If multiple seal schedules are used the specific information for each body must
be duplicated in each seal schedule. If the values are entered in one schedule
they are NOT entered in all schedules.
51
TCPP
Dispenser
Setup
2.
Desired flow rate indicates the target flow rate that will be used for this
calibration. Set this to the flow rate that will be used most often in your
process. Editing this item is the same as editing Flow rate type in the
specified sealing schedule, which is sealing schedule 30. If one
equipment is dispensing 2 bead sizes such as a 3mm and 5mm. An inbetween size should be chosen - 4mm. This is one of the values that the
command signal (0-4095) uses to scale itself.
TCPP BW scale Factor should be set to 1.000. This is an internal factor
not easily changed. Do not run the sample programs as the will alter this
scale factor.
52
TCPP
Dispenser
Setup
1.00
0.00v
0.00v
Volts
Disable
20
Complete
2.
3.
Before starting verify that the (8) Meter Max Speed calibration has been
completed. If not follow these steps.
a.
Move the curser until COMPLETE is highlighted.
b.
Press (F3) Start on the teach pendent
c.
Verify the Maximum voltage is 10.00v
d.
Verify the voltage step is 0.10v
e.
Continue without moving the robot and the calibration will be
complete.
Material Factor is a multiplying scale factor of the bead. This factor sets the
major size of the bead. Mostly controls the large size of the bead in the
straight away. This is when the command signals are the greatest.
Flow Rate Bias adds or subtracts voltage to the command signal. This factor
sets the minor size of the bead. When the robot goes through a corner the
material factor command signal can go to zero. If this happens the corners
will not have any material. To offset this voltage is added to the signal to
make the corners the correct size.
53
TCPP
Equipment
Delay
4 in.
12in.
12 in.
12in.
End Point
Approach point
4in.
Create the program on the dispense part or something strong enough that
one can scrap off the material. Mark the seal start and the seal end
positions. Use seal schedule 30 to set up the bead size.
54
TCPP
Equipment
Delay
Increase the Material factor to 5.0. This will give a very high scaling factor which
will make the large part (straight away) part of the bead very big. The bead size
is not important at this time the equipment delay is.
2.
Decrease the Offset Bias to -1.5v. This will make the smaller part of the bead
(corners) look like they almost have no material.
3.
Run the bead path Make sure that a style bit and strobe is sent otherwise the
system will run in manual voltage.
a.
The straight away should look heavy.
b.
The corners should have too much material.
c.
There should be a neck down in the bead after the corners.
4.
The neck down in the bead after the corners is the actual equipment delay. The
robot is sending the flow command signal at the actual time it approaches the
node. It take a few milliseconds for the dispenser to respond.
5.
6.
Transfer the equipment delay to all of the seal schedules that the program will
use.
NOTE: WHEN RUNNING THE BEAD PATHS THEY MUST BE RUN A 100% SPEED
JDS402 Robot Programming
55
TCPP
Gun On-Off
Delay
Verify that the equipment delay is in the seal schedule that is being used. The
equipment delay will effect the gun on and gun off anti time.
2.
Run the path and the bead should start slightly after the node is programmed for
the SS (Gun On).
a.
This item indicates the anticipation time between when the robot reaches
the destination position and when the gun is turned on. If you want the gun
to turn on before the robot reaches the destination position, set Gun on
ant-time to a negative number. If you want the gun to turn on after the
robot reaches the destination position, set Gun on ant-time to a positive
number.
b.
Adjust the Gun On ant-time until the bead start is directly on the SS node.
3.
Run the path and the bead should end slightly after the node is programmed for
the SE (Gun Off).
a.
This item indicates the anticipation time between when the robot reaches
the destination position and when the gun is turned off. If you want the gun
to turn off before the robot reaches the destination position, set Gun off
ant-time to a negative number. If you want the gun to turn off after the
robot reaches the destination position, set Gun off ant-time to a positive
number.
b.
Adjust the Gun Off ant-time until the bead ends directly on the SE node.
Run the bead path and adjust the Material Factor in the
MENU/SETUP/DISPENSOR screen until the correct bead size is achieved.
2.
3.
Adjusting the Material Factor and Offset Bias are set by trial and error method.
Trying to use the formula rarely works and is a waste of time.
NOTE: WHEN RUNNING THE BEAD PATHS THEY MUST BE RUN A 100% SPEED
56
TCPP
Running the
Path
57
Robot
Programming
Payload
Robot Motion
If the robot motion is not smooth some additional settings may be required.
Listed below are some variables that have helped programmers set up the robots and
tune in the TCPP values. The variables are located under
Menu/System/(type/Variables).
The robot payload from Fanuc is set to the maximum value of 120.000 . If the payload
is lighter and the robot program is running faster than 500 mm/s the corner of the
program could bounce. To fix this change the variable
$GROUP - UPR_T/enter/enter/enter/$PAYLOAD (item 22).
Pounds X 2.2 = Kilo. The variable is in Kilos.
Below are some standard weight and mass variables for a single system.
58