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Operation Manual
Loctite RB15 200D Gantry Robot
Part Number:1670898
RB15 200D
G antry Robot
P URGE
START
R B 15 200D
Gantry Robot
P ow er
P ROG NO.
Teach P endant
Item No. 1670898
RUN
R S 232
TEACH
Equipment
Operation Manual
H enkel AG & C o. KGaA
Standort München
Gut enbergstr. 3
D -85748 Garching
Loctite
® R B 15 20 0D Ga ntry R ob ot, 24V
I tem No . 1 67 089 8
Seria l No . 0 9GTAA -XXX
Ye ar of Ma nu fact ure:
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Summary of Contents for Loctite RB15 200D
- Page 1 Seria l No . 0 9GTAA -XXX Ye ar of Ma nu fact ure: P URGE START R B 15 200D Gantry Robot P ow er P ROG NO. Teach P endant Item No. 1670898 R S 232 TEACH Loctite RB15 200D Gantry Robot Part Number:1670898...
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Page 2: Table Of Contents
Operation Manual Table of Contents SECTION 1: INTRODUCTION ..................5 Please Observe the Following ......................6 1.1.1 Emphasized Sections..........................6 1.1.2 For Your Safety............................6 1.1.3 Safety Precaution..........................7 Package Contents ..........................7 SECTION 2: SETUP....................8 Unpacking the Robot ...........................9 Setup ..............................9 Mount on Production Line........................10 SECTION 3: TOUR OF ROBOT..................11 Robot Overview ...........................12... - Page 3 Operation Manual 7.1.12.6 Brush Area: Circle 1..........................57 7.1.12.7 Call Subroutine............................58 7.1.13 Call Program ............................59 7.1.14 Set I/O ..............................59 7.1.15 Wait Point ............................60 7.1.16 Stop Point ............................60 7.1.17 Home Point ............................60 7.1.18 Loop Address ............................60 7.1.19 Dummy Point ............................61 7.1.20 Initialize ...............................61 7.1.21 Label ..............................61 7.1.22...
- Page 4 Operation Manual 7.4.22 Circle Delay Time..........................94 7.4.23 Initialize Setup .............................94 7.4.24 Teach Needle Adjustment........................95 7.4.25 Teach Needle Adjustment Setup......................96 SECTION 8: SAMPLE PROGRAMS................98 Dots, Lines and Arcs..........................99 Brush Area ............................101 Step & Repeat ............................102 Input / Output Signal Processing......................104 Needle Calibration..........................106 SECTION 9: SOFTWARE UPGRADE ................107 Check System Version ..........................108...
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Page 5: Introduction
Operating Manual SECTION 1: Introduction - Page 5 -... -
Page 6: Please Observe The Following
Damage to the power cord or the housing can result in contact with live electrical parts. Check the power cord and housing before each use. If the power cord or unit is damaged, do not operate. The unit may be repaired only by a Loctite® authorized service technician. - Page 6 -... -
Page 7: Safety Precaution
Changing of fixtures or tooling must be done with the power source disconnected. The RB15 200D Gantry Robot should only be operated in an environment between 0 and 40 degrees Celsius with humidity of 20 to 95 percent and no visible condensation. -
Page 8: Setup
Operating Manual SECTION 2: Setup - Page 8 -... -
Page 9: Unpacking The Robot
Operating Manual 2.1Unpacking the Robot Always lift the robot from its base. Never lift the robot from the cross member. Remove all accessories from the shipping package before attempting to remove the robot. Place the robot on a stable workbench before operating If you can, do not discard the packing material as these items may be needed if the robot is shipped or moved in the future. -
Page 10: Mount On Production Line
Operating Manual 2.3Mount on Production Line - Page 10 -... -
Page 11: Tour Of Robot
Operating Manual SECTION 3: Tour of Robot - Page 11 -... -
Page 12: Robot Overview
PURGE START Dispenser X Axis Henkel AG & Co. KGaA Standort München Gutenbergstr. 3 D-85748 Garching Loctite ® RB15 200D Gantry Robot, 24V Item No. 1670898 Ext.Control Y/Z Axis Serial No. 09GTAA-XXX Year of Manufacture: Power PROG NO. Teach Pendant... -
Page 13: Tour Of Teach Pendant
Operating Manual SECTION 4: Tour of Teach Pendant - Page 13 -... -
Page 14: Get Started
Operating Manual 4.1Get Started A program consists of a series of instructions stored in the main memory unit. Each instruction is stored in a numbered memory address. A memory address may record a point location with an X, Y, and Z-axis value and point type or it may store an instruction, which sets a parameter, such as a dispensing time or line speed. - Page 15 Operating Manual To dispense a bead of material in an arc, the XYZ location of the start of the line is registered as a LINE START point type. The high point of the arc is registered as an ARC POINT. The end of the arc is registered as a LINE END point: Arc Point Line Start...
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Page 16: Teach Pendant Overview
Operating Manual 4.2Teach Pendant Overview The teach pendant enables the user to jog the robot to input program data. 4.3Operation There are several functions assigned to most keys on the Teach pendant. When a key is pressed alone, the function shown in the dark grey colored area on the key is executed. For example, Ins, Del, Jump, Clear and Esc are the default key functions, which are executed when that key is pressed alone. -
Page 17: Key Introduction
Operating Manual 4.4Key Introduction Menu Keys Opens the Point registration menu. Select the options shown on the display. Opens F2 Menu. Select the options shown on the display. Opens F3 Menu. Select the options shown on the display. Opens the F4 Setup menu. Select the options shown on the display. -
Page 18: Navigation Menu
Operating Manual 4.5Navigation Menu Once the menu is open, use the up and down arrows to move through the items on the menu. Use left and right arrows to change to the next page or previous page of the menu. Press ENTER to select the current item. -
Page 19: Teach Pendant Key Assignments
Operating Manual 4.9Teach Pendant Key Assignments Function Opens the F1 Point registration menu. Used to select options shown on the display. The use of this key depends on the current menu displayed. Opens the F2 Menu. Used to select options shown on the display. The use of this key depends on the current menu displayed. - Page 20 Operating Manual Function Clears / erases the numeric value currently shown in the display. If pressed once, clears the current numeric value. If pressed twice, cancels the current function. If a program is running, cancels the running program. Changes from Point List display mode to Single Point display when teaching point data.
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