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FISNAR F4200N.2 Series Operating Manual

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F4200N.2 Series Operating Manual
Rev 03. December, 2022
F4200N.2 SERIES
ROBOT
OPERATING MANUAL

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Summary of Contents for FISNAR F4200N.2 Series

  • Page 1 F4200N.2 Series Operating Manual Rev 03. December, 2022 F4200N.2 SERIES ROBOT OPERATING MANUAL...
  • Page 2 F4200N.2 Series Operating Manual Rev 03. December, 2022 THIS PAGE INTENTIONALLY LEFT BLANK info@fisnar.com | www.fisnar.com - Page 2 -...

  • Page 3: Table Of Contents

    F4200N.2 Series Operating Manual Rev 03. December, 2022 Table of Contents SECTION 1: Introduction ........................7 Safety Precautions ............................. 8 Package Contents ............................9 Connector and Switch Locations......................10 SECTION 2: Setup ..........................12 Unpacking the Robot ..........................13 Remove Foaming Package ........................13 Setup .................................
  • Page 4 F4200N.2 Series Operating Manual Rev 03. December, 2022 Goto Address ..............................46 1.10 Step & Repeat X ............................47 1.11 Step & Repeat Y ............................51 1.12 Brush Area ..............................52 1.13 Call Subroutine .............................. 58 1.14 Call Program ..............................59 1.15...
  • Page 5 F4200N.2 Series Operating Manual Rev 03. December, 2022 Memory ................................. 92 Teach Pendant ............................... 92 Re-rocate Data ............................... 93 Lock ................................94 Password Setup ............................. 94 Cycle Counter..............................95 Key Beep ............................... 95 Test Function ..............................95 4.10 USB ................................97 4.11...
  • Page 6 F4200N.2 Series Operating Manual Rev 03. December, 2022 Check Cycles and Methods ........................134 General Consideration ..........................134 Check Cycles and Points ..........................134 Check Methods ............................135 Greasing Procedure ..........................136 Grease Type and Greasing Interval ......................136 Accessing Parts to be Greased........................136 info@fisnar.com | www.fisnar.com...

  • Page 7: Introduction

    F4200N.2 Series Operating Manual Section 1: Introduction Rev 03. December, 2022 SECTION 1: Introduction info@fisnar.com | www.fisnar.com - Page 7 -...

  • Page 8: Safety Precautions

    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 Fisnar Inc. distributors. The enclosure will prevent the operator from entering the robot’s work area and will generate an emergency stop signal if the enclosure’s door switch is opened...

  • Page 9: Package Contents

    F4200N.2 Series Operating Manual Section 1: Introduction Rev 03. December, 2022 Package Contents In addition to this operating manual, the following items should be included with the robot: Enclosure Main Unit (CE Units Only – NOT INCLUDED) power shift Edit...

  • Page 10: Connector And Switch Locations

    F4200N.2 Series Operating Manual Section 1: Introduction Rev 03. December, 2022 EXT. Port Connector Shorted EXT. Port Connector Worktable Locating Studs Tip Locators for Barrel Holder Your system may also include other optional accessories. If any of the above items are missing, please contact the supplier.
  • Page 11 F4200N.2 Series Operating Manual Section 1: Introduction Rev 03. December, 2022 Left Side View Power Switch info@fisnar.com | www.fisnar.com - Page 11 -...

  • Page 12: Setup

    F4200N.2 Series Operating Manual Section 2: Setup Rev 03. December, 2022 SECTION 2: Setup info@fisnar.com | www.fisnar.com - Page 12 -...

  • Page 13: Unpacking The Robot

    F4200N.2 Series Operating Manual Section 2: Setup Rev 03. December, 2022 Unpacking the Robot · Unpacking the robot will require a minimum of two people. Do not attempt to lift the robot without assistance. · Always lift the robot from the base. Never lift the robot from the cross member.

  • Page 14: Setup

    F4200N.2 Series Operating Manual Section 2: Setup Rev 03. December, 2022 Setup The F4200N series robots are available in many different configurations. The configuration of each machine and the accessories used with each system will depend on the customer’s application.
  • Page 15 F4200N.2 Series Operating Manual Section 2: Setup Rev 03. December, 2022 3.4. The dispenser, such as the DC100, is connected to the robot via the dispenser interface cable. Connect the female round connector of the dispenser interface cable to the DISPENSER connector on the robot.

  • Page 16: Teaching Overview

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 SECTION 3: Teaching Overview info@fisnar.com | www.fisnar.com - Page 16 -...

  • Page 17: Teaching Overview

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 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 18 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 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.

  • Page 19: Using The Teach Pendant

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Using the Teach Pendant The teach pendant enables the user to jog robot to input program data. shift power Edit FAST Shift Clear First Point Redo Undo D. On Z Cl.

  • Page 20: Key Assignments

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 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.
  • Page 21 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Navigation Display Moves forward (1) memory address. Moves backward (1) memory address. Moves forward (10) memory addresses. Moves backward (10) memory addresses. info@fisnar.com | www.fisnar.com - Page 21 -...

  • Page 22: Navigation Menu

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 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 23: Running A Program

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Running a Program Press the key to run the program. Teach Box Key Assignments Function Used to select options shown on the display. The use of this key depends on the current menu displayed.
  • Page 24 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function If Shift is pressed and released, then another key is pressed, the secondary function of that key (shown in blue) will be executed. Inserts a memory address before the current address.
  • Page 25 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Opens Menu # 2. Jumps to a specified memory address Moves the tip to the point location currently in the display. Registers a XYZ group offset. Opens the Setup menu.
  • Page 26 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Registers a Line End point. Registers an Arc Point. Re-Undo the last change which was undone (Redo) Registers a Point Dispense Setup command. Registers a Line Dispense Setup command.

  • Page 27: Point Type & Function Summary

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 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 Dispense Dot dot dispensing.
  • Page 28 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Description Registers an instruction that will re-run a selected group of memory addresses, stepping by a user-defined distance in the X or Y axis after each copy. The matrix of parts is defined by specifying the number of rows, the number of columns, Step &...

  • Page 29: Setup Menu

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Description Registers a label that can be used as a reference when used Label with the Goto address, Loop address, Set I/O, Step & repeat X, Step & repeat Y and Call Subroutine commands.
  • Page 30 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Description 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 program cycle.
  • Page 31 F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Description Pre-Dispense Wait Time Preset delay Time before dispensing It will make the finished circle dispensing shutoff for a Circle Dispense Setup period of distance while following the circle motion.

  • Page 32: Menu 1

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 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 33: Utility Menu

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Description Z Lifting Length Sets the Z-height after move Z lifting turn on. Utility Menu Below is a list of functions, which are found under Menu 1 -> Utility Menu:...

  • Page 34: Menu 2

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 Function Description Barcode Reader Function to attach barcode reader to robot. Menu 2 Below is a list of functions, which are found under the Menu 2 key: Function...

  • Page 35: Programming Example

    F4200N.2 Series Operating Manual Section 3: Teaching Overview Rev 03. December, 2022 SECTION 4: Programming Example info@fisnar.com | www.fisnar.com - Page 35 -...

  • Page 36: Programming Example

    F4200N.2 Series Operating Manual Section 4: Programming Example Rev 03. December, 2022 Programming Example To help you become familiar with programming the robot, please follow the instructions below to create a program that dispenses in the following pattern: 8: Dispensing Dot...
  • Page 37 F4200N.2 Series Operating Manual Section 4: Programming Example Rev 03. December, 2022 Instruction Display Shows Follow the instructions found in section SECTION 2:3 Setup to setup the robot. [MACHINE HOME] Select program 10 using the program number +------------+ selection switches on the main unit control panel.
  • Page 38 F4200N.2 Series Operating Manual Section 4: Programming Example Rev 03. December, 2022 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/Point key, then 5 to register the location as an Arc point.

  • Page 39: Good Programming Practices

    F4200N.2 Series Operating Manual Section 4: Programming Example Rev 03. December, 2022 Instruction Display Shows ADDR:14 PROG:10 The program is now complete. EMPTY Press ENTER/Point, then 7 to register address 13 as the END of the program. To run the program, press the RUN key..

  • Page 40: Insert / Delete An Instruction

    F4200N.2 Series Operating Manual Section 4: Programming Example Rev 03. December, 2022 You can confirm that the correct point is in the display by pressing the MOVE key. This will cause the tip to move to the XYZ position shown in the display.

  • Page 41: Point Type & Function Reference

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 SECTION 5: Point Type & Function Reference info@fisnar.com | www.fisnar.com - Page 41 -...

  • Page 42: Point Menu

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Point Menu Below is a list of functions which are found under the ENTER/Point key. These functions are ‘point-type’ functions, meaning that the values applied will occupy one memory address.

  • Page 43: Line Passing

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Line Passing Register 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.
  • Page 44 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Circle Three Points: Registers a Circle, selecting the three XYZ Points on the circle will create a Circle dispense. [F2]: Three points Over Angle: (The value is from 1~360). After dispensing the circle, while going through an extra part of the circle defined by the Over Angle, the dispenser will be turned OFF.

  • Page 45: Arc Point

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Arc Point Register 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 46: Dispense On / Off

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Dispense ON / OFF The Dispense ON / OFF instruction will allow the user to program an instruction which will turn the dispenser ON or OFF.

  • Page 47: Step & Repeat X

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 48 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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.
  • Page 49 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Instruction Display Shows In the above example, the X Offset between Step & Repeat X parts is 30 mm. X Offset:30 Type 30 to specify an X Offset of 30 mm, then Y Offset: press ENTER.
  • Page 50 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 The program will run in the following pattern and consists of the following instructions: Address Instruction Dispense End Setup: H.Speed = 100 mm/s, L.Speed = 15 mm/s, L.Length = 5mm...

  • Page 51: Step & Repeat Y

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 52: Brush Area

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 53 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 54 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 of the circle to the center.
  • Page 55 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 56 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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.
  • Page 57 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 of the circle to the center.

  • Page 58: Call Subroutine

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 59: Call Program

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 60: Home Point

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 1.18 Home Point Register an instruction to ‘home’ all axes, sending them to the home position. It works like a “Move” command. It works like an “End Program” function when registered at the end of the program. After program completion, the dispensing tip moves to the home position.

  • Page 61: Blend Point

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 1.23 Blend Point Execute on the cartesian point of line dispensing. Line speed may be too fast to dispense on the right angel and becoming an arc. In order to do so by adding Blend Point, it will slow down the speed before going to the right angle, and dispense a perfect motion of cartesian point.

  • Page 62: Line Dispense Setup

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Line Dispense Setup 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 63: Point Dispense Setup

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 64: Z Clearance

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 registered again, at a higher memory address, all of the 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.

  • Page 65: X/Y Move Speed

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Z Clearance = 10 mm ABSOLUTE: Z = 0 mm 10 mm Z = 10 mm 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 66: Adjust Position

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Adjust Position When the dispensing barrel or tip is removed and replaced, the new tip is often in a slightly different XYZ position than the old tip was. The F4200N series robot has a software utility to adjust a program’s origin, thereby correcting the tip’s offset problem.
  • Page 67 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Instruction Display Shows [MESSAGE BOX] ------------------- Press 2 to select Adjust Origin. Press [ENTER] Adjust Position ------------------- [MESSAGE BOX] Press the Enter key. The tip will move to the...

  • Page 68: Retract Setup

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 2.10 Retract Setup The Retract function gives the programmer a high level of tip control at the end of line dispensing. It allows the tip to reverse direction, back along the dispense path, and up after line dispensing or move forward, at an angle.
  • Page 69 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 #2: RETRACT (SQUARE BACK) _______________________________________________________________________ #3: RETRACT (FORWARD) _______________________________________________________________________ #4: RETRACT (SQUARE FORWARD) info@fisnar.com | www.fisnar.com - Page 69 -...

  • Page 70: Quickstep

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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. This must be smaller than the value of Z-clearance in that point.

  • Page 71: Estop Output

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 2.13 ESTOP Output After receiving the emergency stop signal, the robot can set the status of all the outputs as: · INITIAL: The status (On/Off) of the outputs is set as the status set by the Initial IO command.

  • Page 72: Tip Detect Position

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 2.17 Tip Detect Position " This function needs to be operated with Tip Height Detect Device (optional) to set up the height of needle for detecting. After entering it, Teach Pendant will display like below.

  • Page 73: Tip Detect Offset

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 2.18 Tip Detect Offset " Be sure that Height Detect Device (optional) prepared and Tip Detect Position set up well so that the setting of reference value for needle height can begin next. Teach Pendant will display: Vk r "F gvgev"\ "qh h ugv"*CN N + "...
  • Page 74 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Choose 4. Tip Z Detect, Needle will move to the detect position. ]O guuci g"Dqz_" " " Vk r "\ "J gk i j v"F gvgev" # "...

  • Page 75: Running Home First

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 If length is not enough, there will be a display like below. It needs to be adjusted in the menu of Tip Detect Position. ]O guuci g"Dqz_"...

  • Page 76: Circle Dispense Setup

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 2.21 Circle Dispense Setup " Circle dispense set is used before Circle command. It will make the finished circle dispensing in the state of not projecting glue for a period of distance on pulling the glue motion. There are two parameter references you can input in.

  • Page 77: Tip Search

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 2.23 Tip Search Used with the optional add on of the Tip Detect device. Tip Search Function Tip X:X coordinate Tip Y:Y coordinate Tip Z:Z coordinate...

  • Page 78: Menu 1

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Menu 1 Group Edit Group Edit is a powerful utility, which allows several different functions to be applied to a user- defined group of addresses. These functions include copy, delete, move, multiply line speed, multiply dispense times, apply X Offset, apply Y Offset, and apply Z Offset.
  • Page 79 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.1.2 Delete To use group edit to delete addresses 15 – 25 in the current program: Instruction Display Shows Press the MENU 1 key, then 1 to select Group GROUP EDIT Edit.
  • Page 80 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 Edit.
  • Page 81 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.1.4 Line SP (Line Speed) To use group edit to increase all of the line speed commands in memory address range 1 – 200 by 20 %:...
  • Page 82 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.1.5 Dispen.TM (Dispense Time) To use group edit to increase all of the dispensing times (Point Dispense Setup) in memory address range 1 – 200 by 15%:...
  • Page 83 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 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 84 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.1.7 Offset to 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.

  • Page 85: Expand Step & Repeat

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Expand Step & Repeat Expand Step & Repeat will expand a step and repeat instruction to the actual data it represents. For example, if the following program was created:...

  • Page 86: Program Name

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 The Expand Step & Repeat function is useful in situations where the user must edit selected elements in a Step & Repeat group, although an expanded Step & Repeat instruction will occupy more memory space than an un-expanded instruction.

  • Page 87: Debug Speed

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Debug Speed Debug Speed allows the debug speed to be set. This speed is the speed at which the tip will move when running in Debug mode. See also SECTION 5:5.6 Debug Program Utility Menu Open the Utility Menu.

  • Page 88: Relocate Data

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.11 Relocate Data Allow the position of a program to be corrected, including correction for X offset, Y offset, Z offset and angle of rotation.

  • Page 89: Move Z Lifting

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.12 Move Z Lifting The Z lifting function allows the user to move through the program from point to point. For example, if the user set a (100, 100, 100) as a pre-existing point and from new point to pre- existing point, the user can simply press the move button.

  • Page 90: Z Lifting Length

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3.13 Z Lifting Length The tip moves upward direction depending of the Z lifting length. 3.14 Adjust Origin When the dispensing barrel or tip is removed and replaced, the new tip is often in a slightly different XYZ position than the old tip was.
  • Page 91 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Instruction Display Shows -------------------- Press 7 to Select Adjust Origin. Press [Enter] Adjust Position -------------------- Jog the tip to the same reference point (i.e. -------------------- Move Tip X=10, Y=20, Z=30) as you did previously.

  • Page 92: Utility Menu

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Utility Menu Program Open the program utility menu. The Program Utility menu includes four options: Creates a backup of the current program in reserved backup location 1.

  • Page 93: Re-Rocate Data

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Re-rocate Data The Re-rotate Data function allows the position of a program to be corrected, including correction for X offset, Y offset and angle of rotation.

  • Page 94: Lock

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Instruction Display Shows Relocate All Point S1-> Press 1 to select All Points. Then press ENTER S2-> Relocate All Point Type 3 and press ENTER to designate memory S1->3...

  • Page 95: Cycle Counter

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Cycle Counter When in run mode, the first line of the display shows the number of program cycles which have run to completion for the current program number: [RUN MODE][X] It is possible to reset this number by selecting MENU1, Utility Menu, Cycle Counter.
  • Page 96 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 [Menu 1] [Utility] 1) Group Edit 1) Key Beep 2) Ex. Step & Repeat 2)*Test Function 3) Program Name 3) USB 4) Z Axis Limit (100)

  • Page 97: Usb

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 4.10 USB The F4200N Series robots offer the convenience of a Universal Serial Bus (USB) port. With this feature, you may load or save your programs directly to and from the robot with a USB flash drive.
  • Page 98 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Automatic Upload糎 ▉ 糎 Download： Upload: 1. Plug the thumb drive to PC and add a folder called “setup”. 2. Place the updating files into “setup” folder. For example, LF.exe.
  • Page 99 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3. Plug the thumb drive to the robot and then switch on the robot. 4. When the robot is switched on and runs through its boot sequence, the software will check to see if the USB thumb drive exist in USB port or not.
  • Page 100 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Download： 1. Plug the thumb drive to PC and then add a new folder named “BACKUP”. 2. Plug the USB thumb drive into the USB port on the robot and then switch on the robot.
  • Page 101 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3. When the robot is switched on and runs through its boot sequence, the software will check to see if the USB thumb drive exists in USB port or not. If USB port recognizes thumb drive, it will auto search the "backup"...

  • Page 102: Remote Command

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 4.11 Remote Command Remote command allows the user to operate the robot from an external device using the RS232 port. Please refer to RS232 operating Manual for further information.

  • Page 103: Online Signal

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 4.13 Online Signal This function is used with Warning Flasher (optional). There are too choices: 1. ON 2. OFF Original setting is OFF. If choose ON, output will work automatically, its motion as below.

  • Page 104: Bar Code Reader

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 4.14 Bar Code Reader . Installation Steps 1) Update software version to LF25.3 or upper version by using Teach Pendant. 2) Choose “Barcode Reader”. info@fisnar.com | www.fisnar.com...
  • Page 105 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 3) Select “Enable”. 4) Connect to Barcode Reader. info@fisnar.com | www.fisnar.com - Page 105 -...
  • Page 106 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 5. Choose “RUN” mode. 5) Turn on the power. info@fisnar.com | www.fisnar.com - Page 106 -...
  • Page 107 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Function List. Function Illustration Description HOME Turn to home. CLEAR Remove all data. Delete the last information DELETE you chose. Carry out info@fisnar.com | www.fisnar.com...
  • Page 108 F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Operation ； 1) If you want to carry out PROG_1, please scan ； 2) If PROG_2, please scan 3) If PROG_3, please scan and so on.

  • Page 109: Menu 2

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Menu 2 Numerical Move Allow the tip to be positioned numerically by entering a number for the X, Y and Z values. Save Temp Point Save Temp Point saves the current XYZ position in a temporary memory area numbered (1 –...

  • Page 110: Execute Point

    F4200N.2 Series Operating Manual Section 5: Point Type & Function Reference Rev 03. December, 2022 Execute Point Execute Point will run a selected command. Use the –1 & +1 keys to locate the command that you want to execute. For example, if you select an address containing a circle, the Execute Point will cause the tip to move in a circular path.

  • Page 111: Sample Programs

    F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 SECTION 6: Sample Programs info@fisnar.com | www.fisnar.com - Page 111 -...

  • Page 112: Dots, Lines And Arcs - Sample Program

    F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 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 113 F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 Addr. Command Notes Registers a Line End point at 0010 Line End (10, 40, 35) X: 10 mm, Y: 40 mm, Z: 35 mm Dispenses a dot at...

  • Page 114: Brush Area - Sample Program

    F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 Brush Area – Sample Program Addr. Command Notes 0001 Line Speed ( 25 mm/s ) Sets the line speed to 25 mm/sec Sets a wait time of 0.30 seconds at the start of all lines to give the material time to flow before moving along the line.

  • Page 115: Step & Repeat - Sample Program

    F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 Step & Repeat – Sample Program The program below will dispense four dots on each work piece. There are four rows and three columns of parts loaded on the robot for a total of 12 parts.
  • Page 116 F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 Addr. Command Notes Dispenses a dot at 0007 Dispense Dot (185, 25, 35) X: 185 mm, Y: 25 mm, Z: 35 mm (First Part, four dot) Step & Repeat Y Registers the Step &...

  • Page 117: Input / Output Signal Processing - Sample Program

    F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 Input / Output Signal Processing – Sample Program The program below assumes a fixture holding 12 parts. The robot will move to the first part, then close output signal # 1 for 0.25 seconds.
  • Page 118 F4200N.2 Series Operating Manual Section 6: Sample Programs Rev 03. December, 2022 Addr. Command Notes Check the status of input signal # 1. Set INPUT / OUTPUT If the input signal is closed (pin #26 is Input connected to ground / pin 50), the robot will...

  • Page 119: Error Messages And Specifications

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 SECTION 7: Error Messages and Specifications info@fisnar.com | www.fisnar.com - Page 119 -...

  • Page 120: Error Messages

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 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 121: Unlock Program

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Unlock Program An attempt was made to edit a program in Teach mode which is locked. The program cannot be edited until it is unlocked. Unlock the program in Menu 1, Utility Menu, Lock Program...

  • Page 122: O Specifications

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 I/O Specifications Dispenser Connector: Dispenser Output Pin# Description NOM (Normally Open COM (Commom) EARTH (Ground) info@fisnar.com | www.fisnar.com - Page 122 -...

  • Page 123: Ext. Control Connector

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Notes: Maximum Voltage Maximum Current 125 VAC 250 VAC 28 VDC Ext. Control Connector: The pin assignments for the external control connector are as follows: Pin #...

  • Page 124: Output Signals

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Output Signals Pin # Description OUT #1 OUT #2 OUT #3 OUT #4 OUT #5 OUT #6 OUT #7 OUT #8 Reserve Reserve +24V +24V Output Type:...
  • Page 125 F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 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 126: Input Signals

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Input Signals Pin # Description IN # 1 IN # 2 IN # 3 IN # 4 IN # 5 IN # 6 IN # 7...

  • Page 127: Input / Output Schematic

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Input / Output Schematic info@fisnar.com | www.fisnar.com - Page 127 -...

  • Page 128: Input / Output Power Specifications

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Input / Output Power Specifications F4200N.1 Inputs Outputs (Internal Power Supply) (Internal Power Supply) MAXIMUM 24VDC 24 VDC Voltage MAXIMUM 2.5 mA 250 mA Current info@fisnar.com | www.fisnar.com...

  • Page 129: System Specifications

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 System Specifications info@fisnar.com | www.fisnar.com - Page 129 -...

  • Page 130: Machine Dimensions

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Machine Dimensions info@fisnar.com | www.fisnar.com - Page 130 -...

  • Page 131: Work Table Dimensions

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 Work Table Dimensions 糎 糎 Z-Axis Fixing Head Dimensions 糎 糎 info@fisnar.com | www.fisnar.com - Page 131 -...

  • Page 132: X-Axis Sliding Plate Dimensions

    F4200N.2 Series Operating Manual Section 7: Error Messages and Specifications Rev 03. December, 2022 X-Axis Sliding Plate Dimensions info@fisnar.com | www.fisnar.com - Page 132 -...

  • Page 133: Maintenance And Periodic Inspection

    F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 SECTION 8: Maintenance and Periodic Inspection info@fisnar.com | www.fisnar.com - Page 133 -...

  • Page 134: Check Cycles And Methods

    F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 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 135: Check Methods

    F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 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...

  • Page 136: Greasing Procedure

    F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 Ball screw (worm) - Lack of grease on shaft, LM guide - Apply grease on grease assembly, LM guide, and / or slide guide surfaces hole of worm, LM guide...
  • Page 137 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 X-axis NOTE: Screws are indicated by arrows. info@fisnar.com | www.fisnar.com - Page 137 -...
  • Page 138 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Y-axis NOTE: Screws are indicated by arrows. info@fisnar.com | www.fisnar.com - Page 138 -...
  • Page 139 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Z-axis NOTE: Screws are indicated by arrows. info@fisnar.com | www.fisnar.com - Page 139 -...
  • Page 140 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 Mechanical Part Lists – F4200N.2 F4200N.2 Module Drawing info@fisnar.com | www.fisnar.com - Page 140 -...
  • Page 141 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Module Part List PART NO. ENGLISH NAME 1212-10210001 X UPPER COVER 1212-10210002 X BASE 1212-10210010 Y COVER 1212-10210011 Z COVER 1212-15300001 Z AXIS MODULE 1212-15400001 F4200N.2 BODY MODULE...
  • Page 142 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 – X Axis Drawing info@fisnar.com | www.fisnar.com - Page 142 -...
  • Page 143 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 – X Axis Part List PART NO. ENGLISH NAME 1212-10103001 X FIXING PLATE 1212-10102001 X SLIDING PLATE 1212-10230001 X SENSOR TRIGGER 1212-10303001 LM GUIDE 0603-20150001...
  • Page 144 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 –Y Axis Drawing info@fisnar.com | www.fisnar.com - Page 144 -...
  • Page 145 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 – Y Axis Part List PART NO. ENGLISH NAME 1212-10102002 Y SLIDING PLATE 1212-10105001 Y FIXING PLATE 1212-10114001 X MOUNTING BRACKET 1212-10115001 BODY CASE 1212-10220001...
  • Page 146 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 – Z Axis Drawing info@fisnar.com | www.fisnar.com - Page 146 -...
  • Page 147 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 – Z Axis Part List PART NO. ENGLISH NAME 1212-10100001 Z TOOLING BASE 1212-10102003 Z FIXING PLATE 1212-10150001 Z IDLE PULLEY 1212-10220002 Z SLIDING PLATE...
  • Page 148 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 Electrical Part Lists F4200N.2 F4200N.2 Electrical Drawing #1 info@fisnar.com | www.fisnar.com - Page 148 -...
  • Page 149 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Electrical Drawing #1 Part List PART NO. DESCRIPTION A08PSW-A165ES01R EMERGENCY STOP BUTTON (OMRON) A08SWOT-D16LMT2R GREEN START BUTTON A08RSW-WR1031WR6R2SR RUN TEACH MODE SWITCH A08PSW-PS3110911R PROGRAM NUMBER SWITCH...
  • Page 150 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Electrical Drawing #2 Power Inlet Power (ON) (OFF) BLACK (ON)¡ @ W HITE ORANGE ¡ @ ¡ @ ¡ @ B LACK (OFF)¡ @ O RANGE...
  • Page 151 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Electrical Drawing #2 Part List PART NO. DESCRIPTION A09WP-1212-1-W11 CONTROL PANEL SIGNAL CONVERGE WIRE A09WP-0603-2-W18 PROGRAM NUMBER SWITCH WIRE A09WP-1212-1-W12 DISPENSER SIGNAL & DISPENSER PURGE WIRE A09WP-0505-2-W14 EXT.
  • Page 152 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Electrical Drawing #3 Motor Connecting. Optical Sensor Connecting. info@fisnar.com | www.fisnar.com - Page 152 -...
  • Page 153 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 F4200N.2 Electrical Drawing #3 Part List PART NO. DESCRIPTION A09WP-1212-1-W02 X AXIS MOTOR WIRE A09WP-1212-1-W03 Y AXIS MOTOR WIRE A09WP-1212-1-W01 Z AXIS PIPE MODULE A09WP-1212-1-W04 X OPTICAL SENSOR WIRE...
  • Page 154 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 THIS PAGE INTENTIONALLY LEFT BLANK info@fisnar.com | www.fisnar.com - Page 154 -...
  • Page 155 F4200N.2 Series Operating Manual Section 8: Maintenance and Periodic Inspection Rev 03. December, 2022 info@fisnar.com | www.fisnar.com - Page 155 -...

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