F4200N Manual - Fisnar.fr
F4200N Manual - Fisnar.fr
F4200N Manual - Fisnar.fr
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<strong>F4200N</strong> Operating <strong>Manual</strong><br />
Section 3: Teaching Overview<br />
Part # 562187N<br />
Rev. C Jun 2011<br />
1. Teaching Overview<br />
A program consists of a series of instructions stored in the main memory unit. Each<br />
instruction is stored in a numbered memory address. A memory address may record a<br />
point location with an X, Y, and Z-axis value and point type or it may store an instruction,<br />
which sets a parameter, such as a dispensing time or line speed.<br />
When the program is executed, the robot will go through each memory address in<br />
sequence and execute the instruction found there. If the memory address contains a point<br />
location, the robot will move the X, Y, and Z axes to that location. Depending on the type<br />
of point registered at that location, the robot may also perform other functions, such as<br />
turn the dispenser on or off.<br />
The most commonly used point types are Dispense Dot, Line Start, Line Passing, Arc<br />
Point, and Line End.<br />
To program the robot to dispense a „dot‟ of material, the dispensing tip must be jogged to<br />
the desired XYZ location, then that location is registered as a DISPENSE DOT point type<br />
by pressing the appropriate keys on the Teach Pendant.<br />
Dispense Dot<br />
To program the robot to dispense a bead of material along a linear path, the XYZ location<br />
of the start of the line is registered as a LINE START point type. The locations where the<br />
tip changes direction are registered as LINE PASSING points. The end of the line is<br />
registered as a LINE END point:<br />
- Page 11 - © 2011 <strong>Fisnar</strong> Inc.