I&J Fisnar I&J4000-LF Series Operating Manual
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I&J Fisnar I&J4000-LF Series Operating Manual

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Part # 562187
I&J4000-LF Series Operating Manual
Rev. E - Jan. 08
I&J4000-LF
SERIES ROBOTS
OPERATING MANUAL
© 2008 I&J Fisnar Inc.

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  • Page 1 Part # 562187 I&J4000-LF Series Operating Manual Rev. E - Jan. 08 I&J4000-LF SERIES ROBOTS OPERATING MANUAL © 2008 I&J Fisnar Inc.
  • Page 2 Part # 562187 I&J4000-LF Series Operating Manual Rev. E - Jan. 08 THIS PAGE INTENTIONALLY LEFT BLANK - Page 2 - © 2008 I&J Fisnar Inc.

  • Page 3: Table Of Contents

    Part # 562187 I&J4000-LF Series Operating Manual Rev. E - Jan. 08 ABLE OF ONTENTS SECTION 1: INTRODUCTION ..................6 ......................7 AFETY RECAUTIONS ......................8 ACKAGE ONTENTS ................9 ONNECTOR AND WITCH OCATIONS I&J4100-LF ............................9 I&J4300/4400-LF ..........................10 SECTION 2: SETUP....................11 ......................12 NPACKING THE OBOT ..........................12 ETUP...
  • Page 4 Part # 562187 I&J4000-LF Series Operating Manual Rev. E - Jan. 08 1.15 Set I/O ..............................54 1.16 Wait Point ............................54 1.17 Stop Point ............................55 1.18 Home Point ............................55 1.19 Loop Address ............................55 1.20 Dummy Point ............................55 1.21 Initialize ...............................56 1.22 Label ..............................56 1.23 Display Counter...........................56...
  • Page 5 Part # 562187 I&J4000-LF Series Operating Manual Rev. E - Jan. 08 Point Closed Error ..........................89 Need Line Start Point...........................89 Need Step & Repeat ..........................89 Unlock Program ..........................89 Address Over Memory .........................89 Move Over Memory ..........................90 System Error ............................90 I/O S ......................90 PECIFICATIONS Dispenser Connector: ..........................90...

  • Page 6: Introduction

    I&J4000-LF Series Operating Manual Part # 562187 Section 1: Introduction Rev. E - Jan. 08 SECTION 1: Introduction - Page 6 - © 2008 I&J Fisnar Inc.

  • Page 7: Safety Precautions

    I&J4000-LF Series Operating Manual Part # 562187 Section 1: Introduction Rev. E - Jan. 08 1. Safety Precautions 1.1 In order to meet the requirements of the European Community (CE) safety directives, the robot must be placed in an enclosure supplied by I&J Fisnar Inc. distributors.

  • Page 8: Package Contents

    I&J4000-LF Series Operating Manual Part # 562187 Section 1: Introduction Rev. E - Jan. 08 2. Package Contents In addition to this operating manual, the following items should be included with the robot: Main Unit Enclosure (I&J4100/4300/4400-LF) (CE Units Only – Not Included) Teach Pendant Barrel Holder Spare Screws and Hex Key...

  • Page 9: Connector And Switch Locations

    I&J4000-LF Series Operating Manual Part # 562187 Section 1: Introduction Rev. E - Jan. 08 3. Connector and Switch Locations I&J4100-LF Left side View Teach Pendant Connector RS232 Port Monitor Port Input / Output Port Keyboard Port Program No. Switch Dispenser Purge RUN /TEACH Mode Switch Dispenser Cable Connector...

  • Page 10: I&J4300/4400-Lf

    I&J4000-LF Series Operating Manual Part # 562187 Section 1: Introduction Rev. E - Jan. 08 I&J4300/4400-LF Front side view RUN /TEACH Mode Switch Program No. Switch Dispenser Purge Start Button Power Led Emergency Stop Teach Pendant Connector RS232 Port Keyboard Port Rear side view Input / Output Port Power Switch...

  • Page 11: Setup

    I&J4000-LF Series Operating Manual Part # 562187 Section 2: Setup Rev. E - Jan. 08 SECTION 2: Setup - Page 11 - © 2008 I&J Fisnar Inc.

  • Page 12: Unpacking The Robot

    I&J4000-LF Series Operating Manual Part # 562187 Section 2: Setup Rev. E - Jan. 08 1. Unpacking the Robot • Always lift the robot from the base. Never lift the robot from the cross member. • Remove all accessories from the shipping package before attempting to remove the robot.
  • Page 13 I&J4000-LF Series Operating Manual Part # 562187 Section 2: Setup Rev. E - Jan. 08 2.3. Standard systems are shipped with a barrel holder, which must be mounted on the Z head of the robot. The barrel holder will hold a 30 cc or 55 cc barrel on the robot’s head.

  • Page 14: Teaching Overview

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 SECTION 3: Teaching Overview - Page 14 - © 2008 I&J Fisnar Inc.

  • Page 15: Eaching Verview

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 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, 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 16 I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 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.

  • Page 17: Using The Teach Pendant

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 2. Using the Teach Pendant The teach pendant enables the user to jog robot to input program data. If Shift is pressed, released, then the Menu1 key is pressed, Point Setup (•...

  • Page 18: Key Assignments

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Key Assignments Menu Keys Opens the Point registration menu. Opens the Setup menu. Opens Menu # 1. Opens Menu # 2. Jog Keys Jogs the X-axis in the left direction. Jogs the X-axis in the right direction.

  • Page 19: Navigation Menu

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Navigation Menu Pressing any of the keys shown on the right will open the corresponding menu. Once the menu is open, use the up and down arrows to move through the items on the menu.

  • Page 20: Teach Box Key Assignments

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 3. Teach Box Key Assignments Function Used to select options shown on the display. The use of this key depends on the current menu displayed. Used to select options shown on the display.
  • Page 21 I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 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.
  • Page 22 I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Function (Enter)–used to confirm data entries. Also opens the Point registration menu. Runs the program. Homes the robot. Initializes all axes and moves the head to the position (0,0,0).

  • Page 23: Point Type & Function Summary

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 4. Point Type & Function Summary Point Menu Below is a list of Point Types, which are found under the Enter key (Point menu): Function Description Registers the current XYZ location as a Dispense point for...
  • Page 24 I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Function Description Causes the tip to ‘paint’ the defined area. The painted area Brush Area can be in the form of a rectangle or a circle / spiral. Causes the machine to jump to a specified memory address and execute the instructions found there.

  • Page 25: Setup Menu

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Setup Menu Below is a list of functions, which are found under the Setup key (Setup menu): Function Description Registers the LINE SPEED used for all lines from the Line Speed current memory address forward until another Line Speed instruction is found.
  • Page 26 I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Function Description Registers Retract values at the current XYZ location. Retract Setup Retract causes the tip to move up and back over the dispensed bead after line dispensing. Causes the robot to move very fast from one point to Quickstep another reducing the time of the dispensing cycle.

  • Page 27: Menu 1

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Menu 1 Below is a list of functions, which are found under the Menu 1 key: Function Description Allows a function to be applied to a user-defined group of memory addresses.

  • Page 28: Utility Menu

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Utility Menu Below is a list of functions, which are found under Menu 1 -> Utility Menu: Function Description Opens the Program utility menu. Allows programs to be Program copied, backed up, restored, or cleared.

  • Page 29: Menu 2

    I&J4000-LF Series Operating Manual Part # 562187 Section 3: Teaching Overview Rev. E - Jan. 08 Menu 2 Below is a list of functions, which are found under the Menu 2 key: Function Description Allows the tip to be positioned numerically by entering a Numerical Move number for the X, Y and Z values.

  • Page 30: Programming Example

    I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 SECTION 4: Programming Example - Page 30 - © 2008 I&J Fisnar Inc.

  • Page 31: Programming Example

    I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 1. Programming Example To help you become familiar with programming the robot, please follow the instructions below to create a program which dispenses in the following pattern: 8: Dispense Dot 9: Dispense Dot 10: Dispense Dot...
  • Page 32 I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 Instruction Display Shows Follow the instructions found in section SECTION 2:2. Setup to setup the robot. [MACHINE HOME] Select program 10 using the program number +------------+ selection switches on the main unit control panel.
  • Page 33 I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 Instruction Display Shows 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 ENTER key, then 5 to register the location as an Arc point.

  • Page 34: Good Programming Practices

    I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 2. Good Programming Practices It is recommended to register the setup commands at the beginning of every program. The following setup commands are the most used: •...

  • Page 35: Changing A Point's Xyz Location

    I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 Changing a Point’s XYZ location To change the XYZ location of a point, press the +1 or –1 key until the point you want to change is shown in the display.

  • Page 36: Changing From Teach Mode To Run Mode

    I&J4000-LF Series Operating Manual Part # 562187 Section 4: Programming Example Rev. E - Jan. 08 5. Changing from Teach Mode to Run Mode To change from Teach mode to Run mode, change the position of the mode switch on the main unit’s control panel.

  • Page 37: Point Type & Function Reference

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 SECTION 5: Point Type & Function Reference - Page 37 - © 2008 I&J Fisnar Inc.

  • Page 38: Point Menu

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1. Point Menu Below is a list of functions which are found under the ENTER key. These functions are ‘point-type’ functions, meaning that the values applied will occupy one memory address. Please see SECTION 6:Sample Programs for additional programming examples.

  • Page 39: Line Passing

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Line Passing Registers the current XYZ location as a Line Passing point. This is a location on the line where the tip changes direction, such as at the corner on a rectangle. Also use a Line passing point before and after an Arc Point instruction.

  • Page 40: Arc Point

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Arc Point Registers the current XYZ location as an Arc Point. Arc points are used to dispense material along an arc or circular path. See SECTION 4: Programming Example, for an example of the use of an Arc point.

  • Page 41: Dispense On / Off

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Dispense ON / OFF The Dispense ON / OFF instruction will allow the user to program an instruction which will turn the dispenser ON or OFF. This is useful for turning the dispenser OFF before the end of a line to prevent excess material at the line end.

  • Page 42: Step & Repeat X

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.10 Step & Repeat X Step & Repeat X allows a group of instructions to be run repeatedly, stepping a given distance in the X-axis or Y-axis between each cycle.
  • Page 43 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 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 &...
  • Page 44 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Instruction Display Shows The display will prompt you for the Start Addr: Step & Repeat The start address is the memory address of the Address, 8 first instruction which is part of this Step &...
  • Page 45 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Instruction Display Shows The program is now complete. Press ENTER, then select End Program to mark address 9 as Addr: 10 Prog:20 the new End Program instruction.

  • Page 46: Step & Repeat Y

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Step & Repeat X: S PATH N PATH 1.11 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.

  • Page 47: Brush Area

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.12 Brush Area The Brush Area command causes the tip to ‘paint’ a defined area. There are five Brush Area types: Rectangle, Rectangle 1, Rectangle band, Circle and Circle Band.
  • Page 48 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.12.1 Brush Area: Rectangle Brush Area rectangle causes the tip to ‘paint’ the defined area by passing back and forth along the X-axis, while moving the Y-axis a determined Brush Width distance after each pass along the X-axis.
  • Page 49 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.12.2 Brush Area: Circle Brush Area circle causes the tip to ‘paint’ the defined area by following a spiral path from the outside limit of the circle to the center of the circle.
  • Page 50 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.12.3 Brush Area: Rectangle 1 Brush Area rectangle 1 causes the tip to ‘paint’ the defined area by following a square spiral path from the outside of the rectangle to the center.
  • Page 51 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.12.4 Brush Area: Rect Band Brush Area Rect Band causes the tip to ‘paint’ a defined rectangular band area by following a square spiral path from the outside of the rectangle to the center. After registering the Brush Area Rect Band command, teach a Line Start point at the top left corner of the area to be brushed and a Line End point at the bottom right corner of that area (the tip will not dispense a straight line between these two points):...
  • Page 52 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.12.5 Brush Area: Circle Band Brush Area Circle Band causes the tip to ‘paint’ a defined circular band area by following a spiral path from the outside limit of the circle to the center of the circle.

  • Page 53: Call Subroutine

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.13 Call Subroutine A subroutine is a set of instructions that are located after the End Program instruction. Call Subroutine causes the machine to jump to a specified memory address and execute the instructions found there using coordinates specified at the Call Subroutine instruction.

  • Page 54: Call Program

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Address 7 and 8 comprise the subroutine that will be executed whenever it is called within the main program. The coordinates in the body of the subroutine (Xs,Ys,Zs,Xe,Ye,Ze) are not important;...

  • Page 55: Stop Point

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.17 Stop Point Registers a Stop Point at the current X, Y, and Z location. When executed, the tip will move to that location and wait until the start button is pressed. 1.18 Home Point Registers an instruction to ‘home’...

  • Page 56: Initialize

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 1.21 Initialize Registers an Initialize point. Causes the robot to perform a mechanical initialization. The tip will home to position (0,0,0) and the robot will re-find the home position using the home position sensors.
  • Page 57 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 When dispensing high viscosity materials, there is often a delay from the moment the dispenser is turned on until the material begins to flow. The following parameters are set under this function: Head Time, Tail Time, Node Time and Tail Length.

  • Page 58: Point Dispense Setup

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Point Dispense Setup Registers POINT DISPENSE SETUP values which set dispensing time and waiting time at the end of dispensing (‘tail’ time) for dots. The registered values will be used from the current memory address forward until another POINT DISPENSE SETUP instruction is found.

  • Page 59: Z Clearance

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Values for H.Speed, L.Speed and L. Length are registered with the Dispense End Setup function by pressing the SETUP key, then choosing Dispense End Setup. Once Dispense End Setup values have been registered at a memory address, all points after that memory address will use the values specified.
  • Page 60 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Z Clearance = 10 mm RELATIVE: Z = 0 mm 10 mm 10 mm Z Clearance = 10 mm ABSOLUTE: Z = 0 mm 10 mm Z = 10 mm Please see SECTION 6:Sample Programs for an example of the Z Clearance instruction.

  • Page 61: X/Y Move Speed

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 X/Y Move Speed X/Y Move Speed sets default X and Y-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.
  • Page 62 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 A reference point should be chosen someplace on the work piece fixture or on the work piece itself. The reference point must be registered in the program data. This only needs to be done one time, such as when the program is originally created.

  • Page 63: Retract Setup

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Instruction Display Shows [MESSAGE BOX] Press the Enter key. The tip will move to the ------------------- reference point previously saved (x=10, y=20, Z=30).
  • Page 64 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 _______________________________________________________________________ #1: RETRACT (BACK) _______________________________________________________________________ #2: RETRACT (SQUARE BACK) _______________________________________________________________________ #3: RETRACT (FORWARD) _______________________________________________________________________ - Page 64 - © 2008 I&J Fisnar Inc.

  • Page 65: Quickstep

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 #4: RETRACT (SQUARE FORWARD) _______________________________________________________________________ The retract function requires the following parameters: RETRACT LENGTH: the distance to travel away from the line end point RETRACT HEIGHT: the distance to rise as the tip moves away from the line end (must be smaller than the value of Z clearance in that point).

  • Page 66: Auto Purge Setup

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 2.12 Auto Purge Setup After the end of a program, the tip will go to the home position and material will be purged in a continuous loop according to the parameters registered in the Auto Purge Setup command.

  • Page 67: Pause Status

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 2.15 Pause Status Pause Status sets the position to which the tip will move after pressing the Start button. There are two options: •...
  • Page 68 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Instruction Display Shows GROUP COPY The display will prompt the user to type the SOURCE 1-20 destination memory address where the data will Destination: be copied.
  • Page 69 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 3.1.3 Move To use group edit to move addresses 10 – 20 in the current program to memory addresses 50 – 60: Instruction Display Shows Press the MENU 1 key, then 1 to select Group...
  • Page 70 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 3.1.4 Line SP (Line Speed) To use group edit to increase all of the line speed commands in memory address range 1 –...
  • Page 71 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 3.1.5 Dispense Time To use group edit to increase all of the dispensing times (Point Dispense Setup) in memory address range 1 – 200 by 15%: Instruction Display Shows Press the MENU 1 key, then 1 to select Group...
  • Page 72 I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 3.1.6 Offset The Offset function allows all XYZ locations in a program to be shifted in the X, Y, or Z- axis by a user-defined distance.

  • Page 73: Expand Step & Repeat

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 3.1.7 Offset (R.E) This function allows to be corrected automatically the offset problems which can appear when changing the tip, the barrel and/or the item to be dispensed on. The steps to be followed are similar with those shown under the function 3.1.6.

  • Page 74: Program Name

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 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...

  • Page 75: Initial Output Port

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Initial Output Port 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.

  • Page 76: Adjust Origin

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Adjust Origin Allows the position of a program to be corrected using the reference points. Corrects: X offset, Y offset. Please refer to Section 2.9 “Adjust Position Setup.” 3.10 Control by RS232 This command allows the robot to be controlled via the RS232 port.

  • Page 77: Teach Pendant

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Teach Pendant Opens the Teach Pendant utility menu. The Teach Pendant utility menu includes two options: Copies the current program number data to the Teach Pendant. 1.

  • Page 78: Lock Or Unlock Program

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Instruction Display Shows Save temp point Press the 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.

  • Page 79: Cycle Counter

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 The purpose of the password is to protect the program from unauthorized editing. The user will not be allowed to enter TEACH mode unless the correct password is entered. If the password is forgotten, the master password (777) can be used to gain access to the program.

  • Page 80: Move To Temp Point

    I&J4000-LF Series Operating Manual Part # 562187 Section 5: Point Type & Function Reference Rev. E - Jan. 08 Move To Temp Point Move To Temp Point retrieves a XYZ position which was stored with Save Temp Point. Undo Program Cancels the last change to the program.

  • Page 81: Sample Programs

    I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 SECTION 6: Sample Programs - Page 81 - © 2008 I&J Fisnar Inc.

  • Page 82: Dots, Lines And Arcs - Sample Program

    I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 1. Dots, Lines and Arcs – Sample Program At typical program, containing dots, lines, and arcs, would appear as follows: Addr. Command Notes 0001 Line Speed ( 50 mm/s ) Sets the line speed to 50 mm/sec Sets a wait time of 0.30 seconds at the...

  • Page 83: Brush Area - Sample Program

    I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 Addr. Command Notes Dispenses a dot at 0011 Dispense Dot (20, 20, 35) X: 20 mm, Y: 20 mm, Z: 35 mm Dispenses a dot at 0012 Dispense Dot (20, 25, 35) X: 20 mm, Y: 25 mm, Z: 35 mm...

  • Page 84: Step & Repeat - Sample Program

    I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 Addr. Command Notes be brushed. Registers a Line End point at 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.

  • Page 85: Input / Output Signal Processing - Sample Program

    I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 Addr. Command Notes Dispenses a dot at 0005 Dispense Dot (180, 25, 35) X: 180 mm, Y: 25 mm, Z: 35 mm (First Part, second dot) Dispenses a dot at 0006 Dispense Dot (185, 20, 35)
  • Page 86 I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 Addr. Command Notes Sets the Z Clearance value to 20 mm Z Clearance relative to the point location. 0003 20 mm The maximum height the tip will rise after Relative dispensing is 20 mm above the Dot Registers a 'Dummy' point at:...
  • Page 87 I&J4000-LF Series Operating Manual Part # 562187 Section 6: Sample Programs Rev. E - Jan. 08 Addr. Command Notes Registers the Step & Repeat instruction. Step & Repeat Y The robot will repeat addresses 0004 – Columns: 4 0011 to complete a matrix of 4x3 (12) Rows: 3 parts.

  • Page 88: Error Messages And Specifications

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 SECTION 7: Error Messages and Specifications - Page 88 - © 2008 I&J Fisnar Inc.

  • Page 89: Error Messages

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 1. Error Messages Point Closed Error This message occurs when two adjacent line or arc points are registered at exactly the same XYZ location. Do not register two line points, one after the other, at exactly the same XYZ location.

  • Page 90: Move Over Memory

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Move Over Memory An attempt was made to move data but the move would exceed the maximum memory address System Error This message indicates a problem with the CF Memory card. Please contact your dealer. 2.

  • Page 91: Ext. Control Connector

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 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...

  • Page 92: Output Signals

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Output Signals Pin # Description OUT #1 OUT #2 OUT #3 OUT #4 OUT #5 OUT #6 OUT #7 OUT #8 +12V +12V +12V +12V...
  • Page 93 I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 IMPORTANT NOTES: 1. Output signals should be used only to drive external relays. Do not power external devices directly through output signals. Electrical noise will damage the output signal relay.

  • Page 94: Input Signals

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Input Signals Pin # Description IN # 1 IN # 2 IN # 3 IN # 4 IN # 5 IN # 6 IN # 7 IN # 8 Notes:...

  • Page 95: Input / Output Schematic

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Input / Output Schematic - Page 95 - © 2008 I&J Fisnar Inc.

  • Page 96: Input / Output Power Specifications

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Input / Output Power Specifications I&J4100-LF/ I&J4300-LF/ I&J4400-LF Inputs Outputs (Internal Power Supply) (Internal Power Supply) MAXIMUM 12 VDC 12 VDC Voltage MAXIMUM 2.5 mA 250 mA...

  • Page 97: System Specifications

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 3. System Specifications I&J4100-LF I&J4300-LF I&J4400-LF Working Area X / Y / Z (mm) 200 / 150 / 50 300 / 300 / 100 400 / 400 / 100 Load Worktable / Tool 3.0kg / 1.0kg...

  • Page 98: Machine Dimensions

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 4. Machine Dimensions I&J4100-LF Dimensions UNIT: mm - Page 98 - © 2008 I&J Fisnar Inc.

  • Page 99: I&J4300-Lf Dimensions

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 I&J4300-LF Dimensions UNIT: mm - Page 99 - © 2008 I&J Fisnar Inc.

  • Page 100: I&J4400-Lf Dimensions

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 I&J4400-LF Dimensions UNIT: mm - Page 100 - © 2008 I&J Fisnar Inc.

  • Page 101: Work Table Dimensions

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Work Table Dimensions I&J4100-LF UNIT: mm Dimensional drawing of z-axis plate - Page 101 - © 2008 I&J Fisnar Inc.

  • Page 102: Work Table Dimensions

    I&J4000-LF Series Operating Manual Part # 562187 Section 7: Error Messages and Specifications Rev. E - Jan. 08 Work Table Dimensions I&J4300-LF / I&J4400-LF UNIT: mm Dimensional drawing of z-axis plate - Page 102 - © 2008 I&J Fisnar Inc.

  • Page 103: Mechanical And Electrical Parts Lists

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 SECTION 8: Mechanical and Electrical Parts Lists - Page 103 - © 2008 I&J Fisnar Inc.

  • Page 104: I&J4100-Lf Parts Lists

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 1. I&J4100-LF Parts Lists I&J4100-LF – X-axis Mechanical Parts List Part No. Description B014103001 X BASE PLATE B010301005 X LM Guide B015311002 3 PHASE MOTOR B015308002 X/Y/Z Timing Pulley B015308001...

  • Page 105: I&J4100-Lf - Y-Axis Mechanical Parts List

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4100-LF – Y-axis Mechanical Parts List Part No. Description B014105001 Y BASE PLATE B010301004 Y LM Guide B015311002 3 PHASE MOTOR B015308002 X/Y/Z Timing Pulley B015308001 Y Idle Pulley B015308003...

  • Page 106: I&J4100-Lf - Z-Axis Mechanical Parts List

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4100-LF – Z-axis Mechanical Parts List Part No. Description B014102007 Z BASE PLATE B010301003 Z LM Guide B015311002 3 PHASE MOTOR B015308002 X/Y/Z Timing Pulley B015308004 Z Idle Pulley B015308003...

  • Page 107: I&J4100-Lf - Electronic Parts List

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4100-LF – Electronic Parts List Part No. Description B029051002 CONTROL TRANSFER BOARD A110025102 MOTION CONTROL BOARD A101068001 PC CARD (with CF card) A103012502 POWER SUPPLY (DC 24V) B029052001 MOTOR DRIVER B015311002...

  • Page 108: I&J4100-Lf - Electronic Parts List - Connectors / Wires

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4100-LF – Electronic Parts List – Connectors / Wires 14 15 DRIVER - Page 108 - © 2008 I&J Fisnar Inc.
  • Page 109 I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 WIRE No. Part No. Description EMG BUTTON WIRE A086020206 START BUTTON WIRE A086020207 A086020208 TEACH/RUN BUTTON WIRE PROGRAM NO. WIRE A086021002 PURGE BUTTON WIRE A086020209 DISPENSER CONNECTOR WIRE A086020402...

  • Page 110: I&J4300/4400-Lf - Parts Lists

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 2. I&J4300/4400-LF – Parts Lists I&J4300-LF –– Body Mechanical Parts List Part No. Description Part No. Description 1 B014270001 Arm Top Cover 21 B014280003 X rear Cover 2 B01427002 X-axis Cover Fix kit...

  • Page 111: I&J4400-Lf -- Body Mechanical Parts List

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4400-LF –– Body Mechanical Parts List Part No. Description Part No. Description 1 B014270001 Arm Top Cover 21 B014280004 X rear Cover 2 B01427002 X-axis Cover Fix kit 22 B010472004 Chain...

  • Page 112: I&J4300/4400-Lf --Z-Axis Mechanical Parts List

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4300/4400-LF ––Z-axis Mechanical Parts List Part No. Description 1 B010210012 Z-AXIS Cover 2 B014100022 Screw Fix Plate 3 B019472005 Rubber Bumper 4 A074000002 Sensor 5 B015308013 Timing Pulley 6 B010300001...

  • Page 113: I&J4300/4400-Lf --Electronic Parts List

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4300/4400-LF ––Electronic Parts List Part No. Description B029051002 CONTROL TRANSFER BOARD A110025102 MOTION CONTROL BOARD A101068001 PC CARD (without CF card) A101461702 CF CARD READER A103003001 POWER SUPPLY (DC 30V) B029052001...

  • Page 114: I&J4300/4400-Lf --Electronic Parts List - Connectors / Wires

    I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 I&J4300/4400-LF ––Electronic Parts List – Connectors / Wires X/Y/Z DRIVER - Page 114 - © 2008 I&J Fisnar Inc.
  • Page 115 I&J4000-LF Series Operating Manual Part # 562187 Section 8: Parts Lists Rev. E - Jan. 08 WIRE No. Part No. Description A086020206 EMG BUTTON WIRE A086020207 START BUTTON WIRE A086020212 TEACH/RUN BUTTON WIRE A086021003 PROGRAM NO. WIRE A086020209 PURGE BUTTON WIRE A086020307 DISPENSER CONNECTOR WIRE A086060702...

  • Page 116: Maintenance And Periodic Inspection

    I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 SECTION 9: Maintenance and Periodic Inspection - Page 116 - © 2008 I&J Fisnar Inc.

  • Page 117: Check Cycles And Methods

    I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 1. Check Cycles and Methods General Consideration It is essential to correctly and periodically inspect and maintain the robot to prevent unexpected failures or malfunctions, thus ensuring safe operation and lengthening the machine’s life.

  • Page 118: Check Methods

    I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 Check Methods Check point Check action (See if) Corrective action Tilt or deviation of - Robot working position is tilted - Set the machine in a proper machine or inclined vertical position...

  • Page 119: Greasing Procedure

    I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 Check point Check action (See if) Corrective action Overhaul - Diagnose the whole system and - Contact Agent take decisions for the overhaul 2.
  • Page 120 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4100-LF X-axis NOTE: Screws are indicated by arrows. - Page 120 - © 2008 I&J Fisnar Inc.
  • Page 121 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4100-LF Y-axis NOTE: Screws are indicated by arrows. - Page 121 - © 2008 I&J Fisnar Inc.
  • Page 122 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4100-LF Z-axis NOTE: Screws are indicated by arrows. - Page 122 - © 2008 I&J Fisnar Inc.
  • Page 123 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4300-LF X-axis NOTE: Screws are indicated by arrows. - Page 123 - © 2008 I&J Fisnar Inc.
  • Page 124 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4300-LF Y-axis NOTE: Screws are indicated by arrows. - Page 124 - © 2008 I&J Fisnar Inc.
  • Page 125 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4300-LF Z-axis NOTE: Screws are indicated by arrows. - Page 125 - © 2008 I&J Fisnar Inc.
  • Page 126 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4400-LF X-axis NOTE: Screws are indicated by arrows. - Page 126 - © 2008 I&J Fisnar Inc.
  • Page 127 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4400-LF Y-axis NOTE: Screws are indicated by arrows. - Page 127 - © 2008 I&J Fisnar Inc.
  • Page 128 I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 I&J4400-LF Z-axis NOTE: Screws are indicated by arrows. - Page 128 - © 2008 I&J Fisnar Inc.

  • Page 129: Parts That Could Require Frequent Replacement

    I&J4000-LF Series Operating Manual Part # 562187 Section 9: Maintenance and Periodic Inspection Rev. E - Jan. 08 3. Parts That Could Require Frequent Replacement I&J4100-LF Description Part number Quantity X-axis timing belt B013309003 Y-axis timing belt B013309002 Z-axis timing belt B013309001 I&J4300-LF Description...

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