FISNAR F400N Series Operating Manual
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FISNAR F400N Series Operating Manual

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F4000N Series Operating Manual
Part # 562187N-1
Rev. D Sep 2012
F4000N
SERIES ROBOT
OPERATING MANUAL

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  • Page 1 F4000N Series Operating Manual Part # 562187N-1 Rev. D Sep 2012 F4000N SERIES ROBOT OPERATING MANUAL...

  • Page 2: Table Of Contents

    Step & Repeat X ...........................37 1.11 Step & Repeat Y ...........................42 1.12 Brush Area ............................43 1.13 Call Subroutine ............................50 1.14 Call Program ............................51 1.15 Set I/O ..............................51 1.16 Wait Point ............................52 1.17 Stop Point ............................52 1.18 Home Point ............................52 © 2012 Fisnar Inc.
  • Page 3 SAMPLE PROGRAMS ................89 – S ..............90 INES AND AMPLE ROGRAM – S ..................92 RUSH AMPLE ROGRAM – S & R ................93 EPEAT AMPLE ROGRAM – S ..........95 NPUT UTPUT IGNAL ROCESSING AMPLE ROGRAM © 2012 Fisnar Inc.
  • Page 4 MAINTENANCE AND PERIODIC INSPECTION…………………………111 ..................112 HECK YCLES AND ETHODS General Consideration ........................112 Check Cycles and Points ........................112 Check Methods .............................113 ....................... 114 REASING ROCEDURE Grease Type and Greasing Interval .....................114 Accessing Parts to be Greased ......................114 © 2012 Fisnar Inc.

  • Page 5: Section 1: Introduction

    F4000N Series Operating Manual Part # 562187N-1 Section 1: Introduction Rev. D Sep 2012 SECTION 1: Introduction © 2012 Fisnar Inc.

  • Page 6: Safety Precautions

    1.9 Due to the electronic nature of this equipment and the potential for a spark or generation of heat, note that this equipment must NOT be used with any explosive material or in an explosive type environment. © 2012 Fisnar Inc.

  • Page 7: Package Contents

    Dispenser Cable RS232 Cable and Null Modem Adapter Start / Stop Box (optional) (optional) External Control Connector Spare Control Connector Barrel and Air Line Shorted and Non-Shorted EMG Plugs USB Drive – Special for this Robot © 2012 Fisnar Inc.
  • Page 8 Please note that not all commercially-available USB drives are compatible with the robot. We do not recommend using any other USB drives other than the one provided. Fisnar, Inc. will not be held liable for any issues arising from external hardware being used with the robot without a written consent from Fisnar.
  • Page 9 5) Turn the robot OFF and remove the USB drive. Note: The robot will keep updating the software whenever it sees an “updata” folder, rename the folder (and still keep it in the drive) in order to avoid this. © 2012 Fisnar Inc.

  • Page 10: Connector And Switch Locations

    F4000N Series Operating Manual Part # 562187N-1 Section 1: Introduction Rev. D Sep 2012 3. Connector and Switch Locations Front View Rear View © 2012 Fisnar Inc.

  • Page 11: Section 2: Setup

    F4000N Series Operating Manual Part # 562187N-1 Section 2: Setup Rev. D Sep 2012 SECTION 2: Setup © 2012 Fisnar Inc.

  • Page 12: Unpacking The Robot

    Be sure that the cables and air lines do not restrict the motion of the robot‟s head and the robot‟s table and make sure that they can not become jammed as the robot moves through the work area. © 2012 Fisnar Inc.

  • Page 13: Section 3: Teaching Overview

    F4000N Series Operating Manual Part # 562187N-1 Section 3: Teaching Overview Rev. D Sep 2012 SECTION 3: Teaching Overview © 2012 Fisnar Inc.

  • Page 14: Teaching Overview

    LINE START point type. The locations where the tip changes direction are registered as LINE PASSING points. The end of the line is registered as a LINE END point: © 2012 Fisnar Inc.
  • Page 15 Once the required point locations for your program have been taught, the teach pendant is no longer required. The unit can be switched to RUN mode and operated using the buttons and switches on the main unit control panel. © 2012 Fisnar Inc.

  • Page 16: Using The Teach Pendant

    For example, to select the Speed function, press and release Shift, then press the Speed key. When a number is required, the teach pendant will automatically switch to numeric entry mode. The number represented by each key is shown in the lower right corner of the key. © 2012 Fisnar Inc.

  • Page 17: Key Assignments

    If pressed twice, cancels the current function. entries. If a program is running, cancels the running program. Opens the Point Changes from Point List display mode to Single Point registration menu. display when teaching point data. © 2012 Fisnar Inc.

  • Page 18: Data Entry

    When a number is required, the teach pendant will automatically switch to numeric entry mode. The number represented by each key is shown in the lower right corner of the key. Running a Program Press the key to run the program. © 2012 Fisnar Inc.

  • Page 19: Point Type & Function Summary

    Causes the machine to jump to a specified memory address and Call execute the instructions found there. When the end program instruction Subroutine is reached, program execution will continue at address just after the call Subroutine instruction. © 2012 Fisnar Inc.
  • Page 20 The Loop Counter either clears or keeps the current tally of the counter Loop Counter when an I/O signal is received. The tally is cumulatively added to the current count on the display counter. Dispense Defines the dispense output port number for line dispense setup. Output Setup © 2012 Fisnar Inc.

  • Page 21: Menu 1 (F2)

    Allows the robot to be controlled via the RS232 port. Determines if a program will restart from point #1 or the point at which it was interrupted if a program is stopped Resume by an emergency stop or the enclosure door switch open signal. © 2012 Fisnar Inc.

  • Page 22: Utility Menu (Within Menu1)

    Enabling Key Beep to produce a beep every time a key Key Beep in the Teach Pendant is touched. Testing the Robot Sensor, Panel Connector, Input Test Function Output signal, Teach Pendant and Motor. © 2012 Fisnar Inc.

  • Page 23: Menu 2 (F3)

    X=0, Y=0, Z=0. Displays system information, including software version System Information number, work area size and control board version. Execute Point Runs a selected command. Program List Allows the operator to see all programs in the memory. © 2012 Fisnar Inc.

  • Page 24: Setup Menu (F4)

    Sets the movement speed of the Z-axis when moving Z Move Speed from one figure to another in the program. Changes the position the robot moves to at the end of a Home Position Setup program cycle. © 2012 Fisnar Inc.
  • Page 25 Initialize Setup returns the tip to the home position, where X,Y and Z values are equal to 0(zero), as Initialize Setup delivered by the factory. This is useful if the dispensing tip holder may have been manually pushed out of position. © 2012 Fisnar Inc.

  • Page 26: Section 4: Programming Example

    F4000N Series Operating Manual Part # 562187N-1 Section 4: Programming Example Rev. D Sep 2012 SECTION 4: Programming Example © 2012 Fisnar Inc.

  • Page 27: Programming Example

     We will use a line speed of 40 mm / second for the lines and arcs in the program.  For dots, we will use a dispensing time of 0.50 seconds and a waiting time of 0.1 seconds after dispensing. © 2012 Fisnar Inc.
  • Page 28 Now jog the tip to the location of the third point ADDR:5 PROG:10 (3: Arc Point). When the location is correct, EMPTY press the F1/ENTER key, then 5 to register the location as an Arc point. © 2012 Fisnar Inc.
  • Page 29 F1/ENTER key, then 1 to register the location as a Dispense Dot. ADDR:14 PROG:10 The program is now complete. EMPTY Press F1/ENTER, then 7 to register address 13 as the END of the program. To run the program, press the RUN key. © 2012 Fisnar Inc.

  • Page 30: Good Programming Practices

     Line Speed  Z Clearance  Retract Setup  Adjust Position Setup For a complete list and description of all the different setup commands, refer to SECTION 3:3.5 Setup Menu (F4) and SECTION 5:5 F4 (Setup Menu) © 2012 Fisnar Inc.

  • Page 31: Editing A Program

    A new, empty memory address will be inserted at the current memory address.  To delete the instruction currently shown in the display, press the DEL key, and then press the F1 (Yes) key. © 2012 Fisnar Inc.

  • Page 32: Changing The Program Number

    When the machine is in Run mode, the teaching box (teach pendant) is not required. Programs can be selected and run using the switches on the front control panel of the main unit. © 2012 Fisnar Inc.

  • Page 33: Section 5: Point Type & Function Reference

    F4000N Series Operating Manual Part # 562187N-1 Section 5: Point Type & Function Reference Rev. D Sep 2012 SECTION 5: Point Type & Function Reference © 2012 Fisnar Inc.

  • Page 34: F1 (Point Menu)

    Line Dispense Setup instruction in a previous memory address. The Line Dispense Setup instruction is registered by pressing the F4 (SETUP) key. See also SECTION 5:5.1 (Line Speed) and SECTION 5:5.2 (Line Dispense Setup). © 2012 Fisnar Inc.

  • Page 35: Line Passing

    End Setup instruction and / or a Z Clearance instruction in a previous memory address. Dispense End Setup and Z Clearance instructions are registered using the F4(SETUP) key. See also SECTION 5:5.4 Dispense End Setup and SECTION 5:5.5 Z Clearance. © 2012 Fisnar Inc.

  • Page 36: Arc Point

    Dispense End Setup and Z Clearance instructions are registered using the F4 (SETUP) key. End Program Registers the current memory address as the end of the program. The end program instruction will cause the tip to return to the home position at the end of the program cycle. © 2012 Fisnar Inc.

  • Page 37: Dispense On / Off

    To register a DISPENSE OFF instruction, jog the tip to the XYZ location where you want the dispenser OFF, enter that location as a Line Passing point, then press the ENTER key and select Dispense ON / OFF. Press 1 to select Dispenser ON, or press 2 to select Dispenser OFF. © 2012 Fisnar Inc.

  • Page 38: Goto Address

    The Step & Repeat function will allow the user to define the number of rows, the number of columns, the X Offset between each part, and the Y Offset between each part. If, for example, we have a program (number 20) which dispenses four dots of material on a work piece: © 2012 Fisnar Inc.
  • Page 39 If a fixture is made which holds (12) work pieces, in four columns by three rows: Y Offset 25 mm X Offset 30 mm A Step & Repeat X instruction can be used to repeat the program at the additional (11) locations. © 2012 Fisnar Inc.
  • Page 40 Type 4 to specify memory address 4, and then press ENTER. Step & Repeat Address, 8 --------------------- Type 4 to specify four columns, and then press 1.X 2.Y, 1 ENTER. Start Address, 4 Columns (X): 4 Rows (Y): © 2012 Fisnar Inc.
  • Page 41 ENTER. The program is now complete. Press F1/ENTER, and then select End Program to mark address 9 as the new End Program instruction. Press the 7 key then press ENTER. Press RUN to run the program. © 2012 Fisnar Inc.
  • Page 42 Disp.Time = 0.25 s Tail Time = 0.10 s Dispense Point Dispense Point Dispense Point Dispense Point Step & Repeat X: Cols: 4, Rows: 3, X Off: 30mm, Y Off: 25mm, Addr. 4, S Path End Program © 2012 Fisnar Inc.

  • Page 43: Step & Repeat Y

    Step & Repeat Y works just as Step & Repeat X does, with one difference: priority is given to the Y-axis instead of the X-axis. Step & Repeat Y - S PATH Step & Repeat Y - N PATH © 2012 Fisnar Inc.

  • Page 44: Brush Area

    ENTER 3.Rectangle 1 6.Circle 1 Width(mm): Band(mm): Type the width value and press ENTER. Type the band value and press ENTER. Width and band values will be explained further in this section. © 2012 Fisnar Inc.
  • Page 45 Line Start Paint Area Line End If, for example, a brush width of 5 mm was used, the tip will take the following path when the program is run: 5 mm 5 mm 5 mm 5 mm © 2012 Fisnar Inc.
  • Page 46 An open or closed option is also available for this function. Selecting the Closed option will make a whole circle first before making the spiral. Selecting the Open option will make the spiral without closing the outer circle. © 2012 Fisnar Inc.
  • Page 47 (the tip will not dispense a straight line between these two points): Line Start Paint Area Line End If, for example, a brush width of 5 mm was used, the tip will take the following path when the program is run: 5 mm © 2012 Fisnar Inc.
  • Page 48 (the tip will not dispense a straight line between these two points): Line Start Line End If, for example, a brush width of 5 mm and band of 10mm was used, the tip will take the following path when the program is run: Width 5mm Band 10mm © 2012 Fisnar Inc.
  • Page 49 (the tip will not dispense a straight line between these two points): Paint Area Line Start Line End If, for example, a brush width of 5 mm and Band of 15mm was used, the tip will take the following path when the program is run: © 2012 Fisnar Inc.
  • Page 50 An open or closed option is also available for this function. Selecting the Closed option will make a whole circle after making the spiral. Selecting the Open option will make the spiral without closing the outer circle. © 2012 Fisnar Inc.

  • Page 51: Call Subroutine

    Call Subroutine (X2,Y2,Z2) address 7 Call Subroutine (X3,Y3,Z3) address 7 Call Subroutine (X4,Y4,Z4) address 7 End Program Line Start (Xs,Ys,Zs) Line End (Xe,Ye,Ze) End Program START Addr. 2 X1,Y1,Z1 Addr. 3 X2,Y2,Z2 Addr. 4 X3,Y3,Z3 Addr. 5 X4,Y4,Z4 © 2012 Fisnar Inc.

  • Page 52: Call Program

    If 2.Output is selected, the user can enter the output Port (output # 0 – 8), and whether the output should be turned ON or OFF. Please see SECTION 6:Sample Programs for an example of the Set I/O instruction. © 2012 Fisnar Inc.

  • Page 53: Wait Point

    When the Loop Address instruction is registered, the display will prompt for an Address and Count. Address is the memory address to jump to from the current address. This address must be less than the current memory address. Count is the number of times to execute the loop. © 2012 Fisnar Inc.

  • Page 54: Dummy Point

    The counter begins at one (1). 1.24 Loop Counter The Loop Counter either clears or keeps the current tally of the counter when an I/O signal is received. The tally is cumulatively added to the current count on the display counter. © 2012 Fisnar Inc.

  • Page 55: Dispense Output Setup

    Head Time: 0.15 Tail Time: 0.1 Node Time: 0 Tail Length: 0 Dispense Output: 2 Line Start Line End Point Dispense Setup Head time: 0.1 Tail time: 0.1 Dispense output: 1 Dispense Dot Dispense Dot End Program © 2012 Fisnar Inc.

  • Page 56: F2 (Menu 1)

    21 and press ENTER to select destination Select: memory address number 21. The display will now prompt the user to confirm the copy. Press 1 and then press ENTER to select Yes and perform the copy. © 2012 Fisnar Inc.
  • Page 57 2. No Press 2 to select Delete. Then press ENTER Select: The display will now prompt the user to confirm the deletion. Press 1 and then press ENTER to select Yes and delete the data. © 2012 Fisnar Inc.
  • Page 58 50 and press ENTER to select destination Select: memory address number 50. The display will now prompt the user to confirm the move. Press 1 and then press ENTER to select Yes and move the data. © 2012 Fisnar Inc.
  • Page 59 The display will now prompt the user to confirm the change. Press 1 to select Yes. Then press ENTER All of the line speed instructions in the select range of points will now be multiplied by 1.2. © 2012 Fisnar Inc.
  • Page 60 The display will now prompt the user to confirm the change. Press 1 to select Yes. Then press ENTER. All of the Point Dispense Setup instructions in the select range of points will now be multiplied by 1.15. © 2012 Fisnar Inc.
  • Page 61 Y and Z offsets at zero. Select: The display will now prompt the user to confirm the change. Press 1 to select Yes. Then press ENTER. 15 mm will be added to all of the X-axis values in the selected range. © 2012 Fisnar Inc.
  • Page 62 Select: applied to the range of points. Press 7 to select Offset to. Then press ENTER The program origin will be adjusted for the X:0.3, Y:0.5, Z:0.0 new tip location. © 2012 Fisnar Inc.

  • Page 63: Expand Step & Repeat

    51 (plus the End Program instruction at address 52). After: Address Instruction Dispense End Setup Z Clearance Point Dispense Setup Dispense Point Dispense Point Dispense Point Dispense Point Dispense Point Dispense Point Dispense Point Dispense Point End Program © 2012 Fisnar Inc.

  • Page 64: Program Name

    Initial Output Port sets the ON/OFF status of the output signals at the start of each program cycle. Initial Output Port value is the decimal representation of an 8 binary bit values controlling the 8 output signals. For example, Output Status Decimal (X = on, blank = OFF) Value © 2012 Fisnar Inc.

  • Page 65: Debug Speed (Mm/S)

    This command allows the robot to be controlled via the RS232 port. This is possible with the Fisnar Windows software package Robot Edit feature. To enable or disable this functionality, select F2 (Menu 1)  Control by RS232 and select Enable or Disable.

  • Page 66: Resume

    If Resume is set to 2 and a program is stopped by an emergency stop signal or by the enclosure door switch open signal, the program will restart from point #1. The default value is 2. © 2012 Fisnar Inc.

  • Page 67: Utility Menu (Within Menu 1)

    Restores the entire contents of the robot memory backed up with function 2. Restore 1.Backup (above). Erases the entire contents of the robot memory. If Clear is selected, the 3. Clear user will be prompted for a password. © 2012 Fisnar Inc.

  • Page 68: Teach Pendant

    Save temp point Press the F3 (MENU 2) key, then select Save -------------------------- Temp Point to save the location. The display will Point (1-9): prompt for the temporary point number to save. Relocate Save To 1,2 Point © 2012 Fisnar Inc.
  • Page 69 Relocate All Point Type 4 and press ENTER to designate memory S1->3 address number 4 as reference point 2 (temp S2->4 point #2). The program location will be adjusted for X offset, Y offset and angle of rotation. © 2012 Fisnar Inc.

  • Page 70: Lock Or Unlock Program

    In run mode, when the set number of program cycles has been completed, the display will show Counter Full [Shift+Enter] and by pressing the shift+enter buttons the robot will be disabled and you can run the program again. © 2012 Fisnar Inc.

  • Page 71: Key Beep

    The Test Function is a diagnostic command used for troubleshooting your robot easily through the robot Teach Pendant. Instructions 1) After initializing the robot, press the F2 button (MENU 1) on the Teach Pendant. 2) Select Utility Menu (see next page). 3) Select Test Function (see next page). © 2012 Fisnar Inc.
  • Page 72 1 1 1 1 1 1 1 1 1 ---------------------------- OUT: 0 0 0 0 0 0 0 0 0 1. X Press Key 1~8 Set Output 2. Y Press Key 9 Set Dispenser 3. Z © 2012 Fisnar Inc.

  • Page 73: F3 (Menu 2)

    Redo Program Re-does the last change to the program, which was canceled with Undo. Debug Program Runs the program in Debug mode, using the speed set in Debug Speed starting at the current point location. © 2012 Fisnar Inc.

  • Page 74: Move To Home Position

    For example, if you select an address containing a circle, the Execute Point will cause the tip to move in a circular path. 4.10 Program List Program List allows the operator to see all programs previously written in the memory. © 2012 Fisnar Inc.

  • Page 75: F4 (Setup Menu)

    Usually the material continues flowing after the dispenser is off, due to pressure built in the system. Tail Length automatically turns off the dispenser at a user defined distance before the end of a line, preventing excess of material to be deposited at the end of the line. © 2012 Fisnar Inc.

  • Page 76: Point Dispense Setup

    After dispensing a dot or line, it is often required to raise the tip a short distance at a slow speed. This allows the material to cleanly break free from the tip, without „dragging‟ material where it is not wanted. © 2012 Fisnar Inc.
  • Page 77 If Dispense End Setup values are registered again, at a higher memory address, all points from that memory address forward will use the new values. Please see SECTION 6: Sample Programs for an example of the Dispense End Setup instruction. © 2012 Fisnar Inc.

  • Page 78: Z Clearance

    When it is specified as an absolute value, it is a distance from the Z-axis zero position, where the tip will rise to, regardless of the Z-axis value of the taught point location. For example: Z Clearance = 10 mm RELATIVE: Z = 0 mm 10 mm © 2012 Fisnar Inc.

  • Page 79: X/Y Move Speed

    Z Move Speed sets default Z-axis movement speed as the tip moves between figures in a program, such as from one dispense point to another or from the end of line dispensing to the next start of line dispensing. © 2012 Fisnar Inc.

  • Page 80: Home Position Setup

    (X=0, Y=0, Z=0) at the start of every program cycle. When executing a program in RUN MODE, the robot will move to the home position set under  F4 (Setup) Home Position Setup. © 2012 Fisnar Inc.

  • Page 81: Adjust Position Setup

    (The X: 10 Y: 20 point will not be registered at any address in the Z: 30 program, but it will be saved as a global variable for the current program) © 2012 Fisnar Inc.
  • Page 82 Jog the tip to the correct location for the reference point. +------------+ | START/HOME | +------------+ When the location is correct, press ENTER. All the coordinates in the current program will be offset to compensate the tip offset © 2012 Fisnar Inc.

  • Page 83: Retract Setup

    There are five types of the Retract Setup functions: 0 (Normal), 1 (Back), 2 (Square Back), 3 (Forward) and 4 (Square Forward). _______________________________________________________________________ #0: RETRACT (NORMAL) _______________________________________________________________________ #1: RETRACT (BACK) _______________________________________________________________________ © 2012 Fisnar Inc.
  • Page 84 F4000N Series Operating Manual Part # 562187N-1 Section 5: Point Type & Function Reference Rev. D Sep 2012 _______________________________________________________________________ #2: RETRACT (SQUARE BACK) _______________________________________________________________________ #3: RETRACT (FORWARD) _______________________________________________________________________ #4: RETRACT (SQUARE FORWARD) _______________________________________________________________________ © 2012 Fisnar Inc.

  • Page 85: Quickstep

    Retract values will be used for all lines from the current memory address forward until another Retract instruction is found or the function is canceled. 5.11 Quickstep This function causes the robot to move very fast from one point to another reducing the time of the dispensing cycle. © 2012 Fisnar Inc.

  • Page 86: Auto Purge Setup

     INITIAL: The status (On/Off) of the outputs is set as the initial status set by the Initial IO command.  KEEP OUTPUT STATUS: The status (On/Off) of the outputs is left as it was before the emergency signal. © 2012 Fisnar Inc.

  • Page 87: Acceleration

    Pause Status sets the position to which the tip will move after pressing the Start button. There are two options:  Home position: The tip will move to the home position.  Stand: The tip will stay at the position where the Start button was pressed. © 2012 Fisnar Inc.

  • Page 88: Usb Up/Down Load

    Note: The robot automatically assigns the program number as its filename when saved to the USB drive. It uses this filename to load the program to the same number on the robot. The USB Flash Drive must be in FAT file system format. © 2012 Fisnar Inc.
  • Page 89 11) Turn the robot OFF and remove the USB drive. Note: The robot will keep updating the software upon system start up whenever it sees an “updata” folder. Remove the USB drive, or change the filename in order to avoid this. © 2012 Fisnar Inc.

  • Page 90: Section 6: Sample Programs

    F4000N Series Operating Manual Part # 562187N-1 Section 6: Sample Programs Rev. D Sep 2012 SECTION 6: Sample Programs © 2012 Fisnar Inc.

  • Page 91: Dots, Lines And Arcs - Sample Program

    Sets the Z Clearance value to 20 mm Z Clearance relative to the point location. 0005 20 mm The maximum height the tip will rise after dispensing is 20 mm above the Dot or Relative Line End point. © 2012 Fisnar Inc.
  • Page 92 X: 20 mm, Y: 25 mm, Z: 35 mm Dispenses a dot at 0013 Dispense Dot (20, 30, 35) X: 20 mm, Y: 30 mm, Z: 35 mm Ends the program. Returns the tip to the 0014 End Program home position. © 2012 Fisnar Inc.

  • Page 93: Brush Area - Sample Program

    X: 90 mm, Y: 60 mm, Z: 35 mm. 0007 Line End (90, 60, 35) This is the lower right corner of the area to be brushed. Ends the program. Returns the tip to the home 0008 End Program position. © 2012 Fisnar Inc.

  • Page 94: Step & Repeat - Sample Program

    L. Length: 10 mm Z Clearance Sets the Z Clearance value to 20 mm relative to the point location. 0003 20 mm The maximum height the tip will rise after Relative dispensing is 20 mm above the Dot. © 2012 Fisnar Inc.
  • Page 95 X-axis and 30 mm in the Y-axis. Y Offset: 30 mm The robot will follow an 'S' path, through the Start Address: 4 parts. 'S' Path Ends the program. Returns the tip to the home 0009 End Program position. © 2012 Fisnar Inc.

  • Page 96: Input / Output Signal Processing - Sample Program

    The tip will move to this XYZ location, but will do nothing. This point is just above the first part in the fixture. Set INPUT / OUTPUT Closes output signal # 1. Output 0005 Port #: 1 Output is turned 'on.' Status: 1 © 2012 Fisnar Inc.
  • Page 97 X-axis and 30 mm in the Y-axis. Start Address: 4 'S' Path The robot will follow an 'S' Path, through the parts. Ends the program. Returns the tip to the 0014 End Program home position. © 2012 Fisnar Inc.

  • Page 98: Section 7: Error Messages And Specifications

    F4000N Series Operating Manual Part # 562187N-1 Section 7: Error Messages and Specifications Rev. D Sep 2012 SECTION 7: Error Messages and Specifications © 2012 Fisnar Inc.

  • Page 99: Error Messages

    An attempt was made to edit a program in Teach mode, which is locked. The program cannot be edited until it is unlocked.   Resolution: Unlock the program in F2 (Menu 1) Utility Menu Unlock Program. © 2012 Fisnar Inc.

  • Page 100: Address Over Memory

    Note: When an error occurs, it will be displayed on the Teach Pendant. If the Teach Pendant is not connected to the robot, you will first have to turn off the robot, then connect the Teach Pendant to the robot for it to properly function. © 2012 Fisnar Inc.

  • Page 101: I/O Specifications

    Section 7: Error Messages and Specifications Rev. D Sep 2012 2. I/O Specifications Dispenser Connector: Pin # Description NOM (Normally Open) COM (Common) EARTH (Ground) Notes: Maximum Voltage Maximum Current 125 VAC 250 VAC 30 VDC © 2012 Fisnar Inc.

  • Page 102: Ext. Control Connector

    Ext. Control Connector: The pin assignments for the external control connector are as follows: Pin # Description Start Signal Start Signal Door Switch (COM) Door Switch (NC) Door Switch (NO) Emergency Stop Emergency Stop External Control Connector © 2012 Fisnar Inc.

  • Page 103: Output Signals

    +24 Volt power supply (# 24 & #25) is closed. The output pins #14 - #21 are already grounded through the robots internal power supply. Pins #24 & #25 are the same. They are connected to the +24 volt power supply. © 2012 Fisnar Inc.

  • Page 104: Input Signals

    3. Check the status of an input signal using the SET I/O command (see SECTION 5:1.15 - Set I/O). When the input pin (pin 1 – 8) is connected to a GND pin (pin #11 - #13), the value of the input is 0. © 2012 Fisnar Inc.

  • Page 105: Input / Output Schematic

    Rev. D Sep 2012 Input / Output Schematic Input / Output Power Specifications F4300N/ F4400N/ F4500N Inputs Outputs (Internal Power Supply) (Internal Power Supply) MAXIMUM 24 VDC 24 VDC Voltage MAXIMUM 2.5 mA 250 mA Current © 2012 Fisnar Inc.

  • Page 106: Robot External I/O Card

    Rev. D Sep 2012 Robot External I/O Card The F4000N robots have an optional accessory I/O Card (P/N: A113005103-C) which can be used to power external devices for longer periods of time. Please contact Fisnar for more details. Robot COM2 COM5...

  • Page 107: System Specifications

    Working Temperature Relative Humidity 20 – 90% (no condensation) Dimensions 485 x 500 x 590 530 x 600 x 596 685 x 698 x 746 (WxDxH) (mm) Weight 66lbs. 30 kg 88lbs. 40kg 101lbs. 46 kg © 2012 Fisnar Inc.

  • Page 108: Machine Dimensions

    F4000N Series Operating Manual Part # 562187N-1 Section 7: Error Messages and Specifications Rev. D Sep 2012 4. Machine Dimensions F4300N Dimensions UNIT: millimeters (mm) © 2012 Fisnar Inc.

  • Page 109: F4400N Dimensions

    F4000N Series Operating Manual Part # 562187N-1 Section 7: Error Messages and Specifications Rev. D Sep 2012 F4400N Dimensions UNIT: millimeters (mm) © 2012 Fisnar Inc.

  • Page 110: F4500N Dimensions

    F4000N Series Operating Manual Part # 562187N-1 Section 7: Error Messages and Specifications Rev. D Sep 2012 F4500N Dimensions UNIT: millimeters (mm) © 2012 Fisnar Inc.

  • Page 111: Work Table Dimensions

    F4000N Series Operating Manual Part # 562187N-1 Section 7: Error Messages and Specifications Rev. D Sep 2012 Work Table Dimensions Work Table (mm) Z-Axis Plate (mm) © 2012 Fisnar Inc.

  • Page 112: Section 8: Maintenance And Periodic Inspection

    F4000N Series Operating Manual Part # 562187N-1 Section 8: Maintenance and Periodic Inspection Rev. D Sep. 2012 SECTION 8: Maintenance and Periodic Inspection © 2012 Fisnar Inc.

  • Page 113: Check Cycles And Methods

    Status of cables and hoses Appearance Stability on the work bench Motor running condition Motions, connections and joints Unfastened / loose bolts and screws Internal wires and connectors Accuracy and precision Ball screw assembly, LM guide, slide guide Overhaul © 2012 Fisnar Inc.

  • Page 114: Check Methods

    LM guide, slide guide surfaces. guide, and slide guide surfaces.   Replace the shaft (contact Deflection of the shaft. agent).   Contact agent. Overhaul Diagnose the whole system and make decision for the overhaul. © 2012 Fisnar Inc.

  • Page 115: Greasing Procedure

    Apply grease into the grease hole of ball screw (worm gear) and also thinly to the surfaces of LM guide and slide guide. c. Put back the covers and screw in the bolts. X-Axis © 2012 Fisnar Inc.
  • Page 116 F4000N Series Operating Manual Part # 562187N-1 Section 8: Maintenance and Periodic Inspection Rev. D Sep. 2012 Y-Axis © 2012 Fisnar Inc.
  • Page 117 F4000N Series Operating Manual Part # 562187N-1 Section 8: Maintenance and Periodic Inspection Rev. D Sep. 2012 Z-Axis © 2012 Fisnar Inc.

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