F9000N Manual - Fisnar.fr

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F9000N & F2004N Series Operating Manual Section 3 : Teaching Overview Rev. C- Oct. 11 Section 3: Teaching Overview - Page 22 - © 2010 Fisnar Inc.
F9000N & F2004N Series Operating Manual Section 3 : Teaching Overview Rev. C- Oct. 11 1. Teaching Overview A program consists of a series of instructions stored in the main unit memory. Each instruction is stored in a numbered memory address. A memory address may record a point location, with an X, Y, Z and R (for 4-axis robots) value and point type or it may store an instruction which sets a parameter, such as a dispensing time or a line speed. When the program is run, the robot will step through each memory address in sequence and execute the instruction found there. If the memory address contains a point location, the robot will move the X, Y and Z axes to that location and also will execute the rotation corresponding to the value of the R in that point. Depending on the type of point registered at that location, the robot may also perform other functions, such as turn the dispenser on or off. The most commonly used point types are: Dispense Dot, Line Start, Line Passing, Arc Point, and Line End. To program the robot to dispense a „dot‟ of material, the dispensing tip must be jogged to the desired XYZ location (and in the desired R position of the tip), then that location is registered as a DISPENSE DOT type by pressing the appropriate key on the Teach Pendant. To program the robot to dispense a bead of material along a linear path, the XYZ location (and R position of the tip) of the start of the line is registered as a LINE START point. The locations where the tip changes direction (and position) are registered as LINE PASSING points. The end of the line is registered as a LINE END point: - Page 23 - © 2010 Fisnar Inc.
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