1. Manuals
  2. Brands
  3. Loctite Manuals
  4. Robotics
  5. EQ RB21
  6. User manual

Loctite EQ RB21 User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
EQ RB21 SOFTWARE
USER GUIDE
Version RB1.00-2

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EQ RB21 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Loctite EQ RB21

Summary of Contents for Loctite EQ RB21

  • Page 1 EQ RB21 SOFTWARE USER GUIDE Version RB1.00-2...

  • Page 2: Table Of Contents

    Table of Contents SECTION 1: INTRODUCTION ..................5 Introduction ............................6 Safety ..............................6 Get Started ............................7 SECTION 2: TOUR OF TEACH PENDANT ..............9 Teach Pendant Overview ........................10 Operation .............................10 Key Introduction ..........................11 Navigation Menu ..........................12 Jogging ..............................12 Data Entry ............................12 Running a Program ..........................12 Teach Pendant Key Assignments ......................13 SECTION 3:...
  • Page 3 5.1.26 Set GPIO ..............................55 5.1.27 Arc Dispense Setup ..........................56 5.1.28 Tip Clean .............................57 F2 Menu (F2 Key) ..........................57 5.2.1 Group Edit ............................57 5.2.1.1 Copy ..............................57 5.2.1.2 Delete ..............................58 5.2.1.3 Move ..............................59 5.2.1.4 Line SP (Line Speed) ..........................60 5.2.1.5 Dispense Time ............................61 5.2.1.6 Offset ..............................62 5.2.1.7 Offset (R.E) ............................63 5.2.2...
  • Page 4 SECTION 6: SAMPLE PROGRAMS ................92 Dots, Lines and Arcs ..........................93 Brush Area ............................95 Step & Repeat ............................96 Input / Output Signal Processing ......................98 Needle Calibration ..........................100 Program with Dual Table ........................101 SECTION 7: SOFTWARE UPGRADE ................ 102 Upgrade Software ..........................103 SECTION 8: ERROR MESSAGES ................

  • Page 5: Introduction

    SECTION 1: Introduction...

  • Page 6: Introduction

    Introduction Welcome to the Henkel RB21 System Software User Guide, this manual is an instructional guide designed for system operators, programmers, and process engineers. It provides a complete tour of the Robot control software with detailed explanations of all features. In most cases, the software should arrive already installed and configured for your robot.

  • Page 7: Get Started

    Get 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 8 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 End Line Start...

  • Page 9: Tour Of Teach Pendant

    SECTION 2: Tour of Teach Pendant - Page 9 -...

  • Page 10: Teach Pendant Overview

    Teach Pendant Overview The teach pendant enables the user to jog robot to input program data. Operation 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 11: Key Introduction

    Key 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 Jog Keys Jogs the X-axis in the left direction.

  • Page 12: Navigation Menu

    Navigation 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. Jogging The tip is jogged by pressing the jog buttons If the FAST button is pressed and held first, then one of...

  • Page 13: Teach Pendant Key Assignments

    Teach 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 14 Function 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. Changes the display to memory address number 1. Changes the display to the last memory address used in the program.
  • Page 15 Function Registers a LINE PASSING point. Registers a LINE END point. Registers an ARC POINT. Registers a Point Dispense Setup command. Registers a Line Dispense Setup command. Registers a Line Speed command. Registers the End Program command. Registers a Z Clearance command. Set the dispenser “Off”...

  • Page 16: Menu Introduction

    SECTION 3: MENU Introduction - Page 16 -...

  • Page 17: F1 Menu

    F1 Menu Below is a list of Point Types, which are found under the Enter or F1 key (F1 Menu): Function Description Registers the current XYZ location as a Dispense point for Dispense Dot dot dispensing. Registers the current XYZ location as a Line Start point for Line Start line dispensing.
  • Page 18 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. When the end Call Subroutine program instruction is reached, program execution will continue at address just after the call Subroutine instruction.
  • Page 19 Registers the current memory address as the end of the “Stadium” path setting: Line Passing Line Start Line End 1 Line End 1 Register the assigned output port (0 – 8) ON or OFF Dispense Output controlled by LINE START and LINE END (same as dispenser Setup port) Register the “Needle Adjustment”...

  • Page 20: F2 Menu

    Perform tip clean. Tip Clean F2 Menu Below is a list of functions, which are found under the F2 key (F2 Menu): Function Description Allows a function to be applied to a user-defined group of memory addresses. Functions include copy, delete, Group Edit move, multiply line speed, multiply dispense times, apply X Offset, apply Y Offset, apply Z Offset...

  • Page 21: Utility Menu

    3.2.1 Utility Menu Below is a list of functions, which are found under F2 Menu -> Utility Menu: Function Description Opens the Program utility menu. Allows programs to Program be copied, backed up, restored, or cleared. Opens the Memory utility menu. Allows the robot Memory memory to be backed up, restored, or cleared.

  • Page 22: F3 Menu

    F3 Menu Below is a list of functions, which are found under the F3 key (F3 Menu): Function Description Allows the tip to be positioned numerically by entering a Numerical Move number for the X, Y and Z values. Saves the current XYZ position in a temporary memory Save Temp Point area numbered 1 –...

  • Page 23: F4 Menu

    F4 Menu Below is a list of functions, which are found under the F4 key (F4 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. Registers the LINE DISPENSE SETUP values which sets dispensing wait time at the start of lines (‘head’...
  • Page 24 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. Automatically purges the system and clean tip at the end Purge &Tip Clean Setup of the program.

  • Page 25: Programming

    SECTION 4: Programming - Page 25 -...

  • Page 26: Programming Example

    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 (White Path): Point 3: Line Passing Point 4: Line Passing Point 2: Arc Point Point 5: Arc Point Point 1: Line Start Point 6: Line Passing...
  • Page 27 Instruction Display Shows Follow the instructions found in Error! Reference source not found.. Setup to setup the robot. Select program 5 using the program number selection [MACHINE HOME] switches on the main unit control panel. Turn the power | START/HOME | ADDR:1 PROG:5 Press the START button.
  • Page 28 Instruction Display Shows Now jog the tip to the location of the third point ADDR:5 PROG:5 (3: Line Passing). When the location is correct, press EMPTY to register the location as an Arc point. Jog the tip to the location of the fourth point ADDR:6 PROG:5 (4: Line Passing).

  • Page 29: Good Programming Practices

    Instruction Display Shows The program is now complete. ADDR:21 PROG:5 EMPTY Press the to register address 20 as the END of the program. To run the program, press the key. Good Programming Practices It is recommended to register the setup commands at the beginning of every program. The following setup commands are the most commonly used: ...

  • Page 30: Editing A Program

    Editing a Program You can move through the instructions in an existing program by using the following keys: Function Moves forward (1) memory address Moves backward (1) memory address Moves to the first memory address in the program Moves to the last programmed memory address in the program Moves the tip to the XYZ point location of the selected point Jumps to display the specified memory address 4.3.1 Changing a Point’s XYZ location...

  • Page 31: Insert / Delete An Instruction

    4.3.2 Insert / Delete an Instruction  To insert an instruction, press the key. The point currently shown in the display will be moved forward one memory address. A new, empty memory address will be inserted at the current memory address. ...

  • Page 32: Changing The Program Number

    Changing the Program Number The program number is selected by the program number selection switches on the main unit’s control panel. Press the + and – buttons to select the program number. Note: Program 99 is designed for “autorun” on Run mode. When starting the robot with this program, the robot starts automatically without pressing the Start/Home key for initialization.

  • Page 33: Function Reference

    SECTION 5: Function Reference - Page 33 -...

  • Page 34: F1 Menu (Enter Or F1 Key)

    F1 Menu (Enter or F1 Key) Below is a list of functions which are found under the ENTER or F1 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. 5.1.1 Dispense Dot Registers the current XYZ location as a dispense point for dot dispensing.

  • Page 35: Line Passing

    5.1.3 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. 5.1.4 Circle Registers a circle, where the circle’s center is at the current XYZ location.

  • Page 36: Arc Point

    5.1.5 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. 5.1.6 Line End Registers the current XYZ location as a Line End point.

  • Page 37: Dispense On / Off

    5.1.8 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 38: Goto Address

    5.1.9 GOTO Address The GOTO Address function causes the program to jump to a specified memory address. 5.1.10 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. Step &...
  • Page 39 The program would consist of the following seven instructions: Address Instruction Dispense End Setup: H. Speed = 60 mm/s, L. Speed = 10 mm/s, L. Length = 5mm Z Clearance: Relative 6 mm Point Dispense Setup: Disp. Time = 0.5 s Tail Time = 0.20 s Dispense Point Dispense Point Dispense Point...
  • Page 40 The instruction at memory address 7 should be changed from End Program to Step & Repeat X. To register a Step & Repeat X instruction at memory address 7, do the following: Instruction Display Shows ADDR: 7 PROG: 20 Press the keys until memory End Program address 7 is shown in the display...
  • Page 41 Instruction Display Shows Step & Repeat Address, 7 -----set: Type 3 to specify three rows, then press ENTER. Y Offset: Unit: mm Step & Repeat In the above example, the X Offset between Address, 7 parts is 20 mm. -----set: 20 Y Offset: Type 20 to specify an X Offset of 20 mm, then press ENTER.
  • Page 42 The program will run in the following pattern and consists of the following instructions: Address Instruction Dispense End Setup: H. Speed = 60 mm/s, L. Speed = 10 mm/s, L. Length = 5mm Z Clearance: Relative 6 mm Point Dispense Setup: Disp.

  • Page 43: Step & Repeat Y

    The previous example was done using S Path. The difference between S Path and N Path is the order in which the pieces are run: Step & Repeat X: S PATH N PATH 5.1.11 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 44: Brush Area

    5.1.12 Brush Area The Brush Area command causes the tip to ‘paint’ a defined area. There are six Brush Area types: Rectangle, Circle, Rectangle 1, Rectangle Band, Circle Band and Circle1. The next pages provide a detailed description of all the Brush area types.

  • Page 45: Brush Area: Rectangle

    5.1.12.1 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. After registering the Brush Area Rectangle 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): Line Start...

  • Page 46: Brush Area: Circle

    5.1.12.2 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. It works in reverse of the Circle 1 function.

  • Page 47: Brush Area: Rectangle 1

    5.1.12.3 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. After registering the Brush Area Rectangle 1 command, teach a Line Starting 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): Line Start...

  • Page 48: Brush Area: Rect. Band

    5.1.12.4 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): Line Start...

  • Page 49: Brush Area: Circle Band

    5.1.12.5 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. After registering the Brush Area Circle Band command, jog the tip to a point on the outside limit of the circle to be brushed and register that location as a Line Start point.

  • Page 50: Brush Area: Circle 1

    5.1.12.6 Brush Area: Circle 1 Brush Area: Circle 1, causes the tip to ‘paint’ the defined area by following a spiral path from the center of the circle to the outside limit of the circle. It works in reverse of the Circle function.

  • Page 51: Call Subroutine

    5.1.12.7 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. When the End Program instruction for the subroutine is reached, program execution will continue at the address immediately after the Call Subroutine instruction.

  • Page 52: Call Program

    Addresses 7, 8 and 9 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, Xp,Yp,Zp Xe,Ye,Ze) are not important; the critical information is the relative position to each other.

  • Page 53: Wait Point

    5.1.15 Wait Point Registers a Wait Point at the current X, Y, Z location. When executed, the tip will move to that location and wait for the specified period of time. Wait Point can only be implemented on RUN Mode. 5.1.16 Stop Point Registers a Stop Point at the current X, Y, and Z location.

  • Page 54: Dummy Point

    5.1.19 Dummy Point Registers the current XYZ location as a Dummy point. The tip will simply pass through this point. A dummy point is useful for avoiding obstacles on the work piece. 5.1.20 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 55: Needle Adjustment

    5.1.24 Needle Adjustment This command used to perform needle calibration before dispensing by every cycle. Suggest putting Needle Adjustment command at beginning of program. To achieve this feature, you need “Teach Needle Adjustment” first, Please refer 5.4.24. There is another way to perform Needle calibration without putting the Needle Adjustment command into program.

  • Page 56: Arc Dispense Setup

    5.1.27 Arc Dispense Setup Addr. Command Notes Registers a Line Start point at 0006 Line Start (10, 10, 35) X: 10 mm, Y: 10 mm, Z: 35 mm Registers a Line Passing point at 0007 Line Passing (10, 20, 35) X: 10 mm, Y: 20 mm, Z: 35 mm Registers an Arc point at 0008...

  • Page 57: Tip Clean

    5.1.28 Tip Clean This command use to perform tip cleaning. F2 Menu (F2 Key) 5.2.1 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 58: Delete

    5.2.1.2 Delete To use group edit to delete addresses 10 – 25 in the current program: Instruction Display Shows Press the F2 key, then 1 to select Group Edit. GROUP EDIT FROM: 1 The display will prompt the user to enter the TO: 1 starting memory address of the group to edit (1 <->...

  • Page 59: Move

    5.2.1.3 Move To use group edit to move addresses 10 – 20 in the current program to memory addresses 50 – 60: Instruction Display Shows Press the F2 key, then 1 to select Group Edit. GROUP EDIT FROM: 1 The display will prompt the user to enter the TO: 1 starting memory address of the group to edit (1 <->...

  • Page 60: Line Sp (Line Speed)

    5.2.1.4 Line SP (Line Speed) To use group edit to increase all of the line speed commands in memory address range 1 – 200 by 20 %: Instruction Display Shows Press the F2 key, then 1 to select Group Edit. GROUP EDIT FROM: 1 The display will prompt the user to enter the...

  • Page 61: Dispense Time

    5.2.1.5 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 F2 key, then 1 to select Group Edit. GROUP EDIT FROM: 1 The display will prompt the user to enter the TO: 1...

  • Page 62: Offset

    5.2.1.6 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. To use group edit to add 15 mm to all X-axis values in memory address range 1 – 200: Instruction Display Shows Press the F2 key, then 1 to select Group Edit.

  • Page 63: Offset (R.e)

    5.2.1.7 Offset (R.E) This Offset (R.E) 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 2.1.6. Offset. (To be seen also: Section 5: 5.9.

  • Page 64: Expand Step & Repeat

    5.2.2 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: Before: Address Instruction Dispense End Setup Z Clearance Point Dispense Setup Dispense Point Dispense Point Dispense Point...

  • Page 65: Program Name

    5.2.3 Program Name Program Name allows the user to register a name for the current program. If a program name is registered, it will appear on the display when that program is selected in Run mode. 5.2.4 Z-axis Limit (mm) Z-axis Limit allows the user to limit the range of the Z-axis.

  • Page 66: Utility Menu

    5.2.6 Utility Menu The Utility menu contains several sub-menus, detail information please refer below. 5.2.6.1 Program Open the program utility menu. The Program Utility menu includes four options: Creates a backup of the current program in reserved backup location on 1.

  • Page 67: Teach Pendant

    5.2.6.3 Teach Pendant Open the Teach Pendant utility menu. The Teach Pendant utility menu includes three options: 1. Backup Copies the current program number data to the Teach Pendant. Restores the contents of the Teach Pendant memory into the current 2.
  • Page 68 Instruction Display Shows Press 1 to save the first location in temporary position #1. Then press ENTER Jog the tip to the new, correct position for the second reference point. Save temp point Press the F3 key, then select Save Temp Point -------------------------- to save the location.

  • Page 69: Lock Or Unlock Program

    5.2.6.5 Lock or Unlock Program Lock or Unlock Program allows the user to protect a program from editing. If the program is locked, the user will not be able to change any of the program data. Unlocking the program will allow the data to be changed again. 5.2.6.6 Password Setup Password Setup allows the password to be set or reset for the current program.

  • Page 70: F3 Menu (F3 Key)

    F3 Menu (F3 Key) 5.3.1 Numerical Move Allows the tip to be positioned numerically by entering a number for the X, Y and Z values. 5.3.2 Save Temp Point Save Temp Point saves the current XYZ position in a temporary memory area numbered (1 –...

  • Page 71: Debug Program

    5.3.6 Debug Program Runs the program in Debug mode, using the speed set in Debug Speed starting at the current point location. 5.3.7 Move To Home Position Move To Home Position will move the tip to the home location using either the default ...

  • Page 72: F4 Menu (F4 Key)

    F4 Menu (F4 Key) Below is a list of functions, which are found under the F4 key. These functions are all related to the setup of dispensing parameters. 5.4.1 Line Speed Registers the line speed used for all lines from the current memory address forward until another Line Speed instruction is found.

  • Page 73: Point Dispense Setup

    The value will be used for all lines from the current memory address forward until another Tail Length instruction is found. Tip continues moving to end of line Dispenser Turns Off here Tail Length Values for the Head Time and Tail Time used when performing line dispensing are registered by pressing the F4 key, then selecting Line Dispense Setup.
  • Page 74 The distance and speed that the tip raises after dispensing is controlled by the L. Length and L. Speed settings. After the tip raises the length specified by L. Length at the speed specified by L. Speed, the tip will continue rising to the Z Clearance height at the speed specified by H. Speed. The purpose of specifying a Z Clearance height is to allow the tip to raise high enough to clear any obstacles it may encounter on the way to the next point.

  • Page 75: Z Clearance

    5.4.5 Z Clearance The purpose of the Z Clearance function is to cause the tip to raise high enough to clear all obstacles as it moves from one point to another. If there are no obstacles between any of the program points, a small Z Clearance value, such as 5 mm, can be used to minimize the program cycle time.

  • Page 76: X/Y Move Speed

    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. 5.4.6 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 77: Home Position Setup

    5.4.8 Home Position Setup Home Position Setup allows the user to change the location of the program home position. The home position is the location where the tip will move to at the end of a program cycle if the “End Program” or “Home Point” instruction is registered. The default home position is (X=0, Y=0, Z=0).

  • Page 78: Adjust Position Setup

    5.4.9 Adjust Position Setup 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 robots have a software utility to adjust a program’s origin, thereby correcting the tip’s offset problem. A reference point should be chosen someplace on the work piece fixture or on the work piece itself.
  • Page 79 When the tip/barrel is changed, use the following procedure to adjust the program’s origin for the new tip location: Instruction Display Shows Counter:0 Switch the robot to RUN mode (the main unit +------------+ mode switch is in the RUN position) | START/HOME | +------------+ [Run Menu]...

  • Page 80: Retract Setup

    5.4.10 Retract Setup The Retract function gives the programmer a high level of tip control at the end of line dispensing. This is useful when dispensing high viscosity or 'stringy' materials as it will lay the material’s tail down on the dispensed bead. There are five types of the Retract Setup functions: 0 (Normal), 1 (Back), 2 (Square Back), 3 (Forward) and 4 (Square Forward).
  • Page 81 _______________________________________________________________________ #2: RETRACT (SQUARE BACK) _______________________________________________________________________ #3: RETRACT (FORWARD) _______________________________________________________________________ #4: RETRACT (SQUARE FORWARD) _______________________________________________________________________ - Page 81 -...

  • Page 82: Quickstep

    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). RETRACT SPEED: the speed at which the tip moves along the retract path RETRACT TYPE:...

  • Page 83: Purge & Tip Clean Setup

    5.4.12 Purge & Tip Clean Setup After the end of a program, the tip will go to the home position and material will be purged and tip will be cleaned in a continuous loop according to the parameters registered in the Purge &...

  • Page 84: Estop Output Status

    5.4.13 ESTOP Output Status After receiving the emergency stop signal, the robot can set the status of all the outputs  INITIAL: The status (On/Off) of the outputs is set as the status set by the Initial IO command. See Initial Output Port (Section 5: 3.5) ...

  • Page 85: Acceleration

    5.4.14 Acceleration Controls the acceleration of each axis. The value entered in this setting is a robot parameter and its exact relation to the robot’s acceleration is beyond the scope of this manual. In general, the value of the acceleration parameter is inversely related to the robot’s acceleration.

  • Page 86: Adjust Origin

    5.4.19 Adjust Origin Allows the position of a program to be corrected using the reference points. Corrects: X offset, Y offset. Please refer 5.4.9 Adjust Position Setup 5.4.20 Quickstep Path To set up the move up shape of Z-axis. “Triangle Shape” or “Normal Shape” Need to use with function “Quickstep”.
  • Page 87 Instruction Display Shows If you select 1, all programs on Robot will be uploaded to USB automatically. If you select 2, Then press to select the program [Up Load] 1. 00：No Name 2. 07：No Name which you want to upload to USB. Press 3.

  • Page 88: Circle Delay Time

    Instruction Display Shows If select 1, all programs on USB will be download to Robot automatically. If select 2, [Down Load] 1. 00：No Name 2. 09：No Name Then press to select the program 3. 16：Jean program which you want to download to Robot. Press to execute the selection.

  • Page 89: Teach Needle Adjustment

    5.4.24 Teach Needle Adjustment Overview of the Needle Adjustment Mechanism Instruction Display Shows [MESSAGE BOX] ----------------------------- F4 Menu Page 4 Teach needle adjustment. Press [ENTER] Adjust Position ----------------------------- [MESSAGE BOX] ----------------------------- Press ENTER. Move Tip ----------------------------- Jog the needle tip to the cross place, lower tip inside kit approximately 2~3 mm.

  • Page 90: Teach Needle Adjustment Setup

    Instruction Display Shows Press Start/Home when calibration completed. [MESSAGE BOX] ----------------------------- Adjust Sensor Error!! Press [W-] then try to lower needle tip if you find this error information. ----------------------------- [W+] Stop [W-] Pass 5.4.25 Teach Needle Adjustment Setup Instruction Display Shows [Needle Adjustment Setup] ----------------------------- Loop:1...

  • Page 91: Low Level Sensor Setup

    Instruction Display Shows [Double Table Run Mode] ----------------------------- Normal F4 Menu Page 4 Double Table Run Mode Cycle Select: ----------------------------- [Double Table Run Setup] ----------------------------- Press numbers to set Run Mode for dual table. Normal Then press ENTER. Cycle I.E. To set to Normal mode Select:1 5.4.27 Low Level Sensor Setup Instruction...

  • Page 92: Sample Programs

    SECTION 6: Sample Programs - Page 92 -...

  • Page 93: Dots, Lines And Arcs

    Dots, Lines and Arcs 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 start of all lines to give the material time Line Dispense Setup to flow before moving along the line.
  • Page 94 Addr. Command Notes Registers a Line Start point at 0006 Line Start (10, 10, 35) X: 10 mm, Y: 10 mm, Z: 35 mm Registers a Line Passing point at 0007 Line Passing (10, 20, 35) X: 10 mm, Y: 20 mm, Z: 35 mm Registers an Arc point at 0008 Arc (5, 25, 35)

  • Page 95: Brush Area

    Brush Area 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 Line Dispense Setup along the line.

  • Page 96: Step & Repeat

    Step & Repeat The program below will dispense four dots on each work piece. There are three rows and four columns of parts loaded on the robot for a total of 12 parts. The parts are 25 mm apart in the X-axis. The parts are 30 mm apart in the Y-axis.
  • Page 97 Addr. Command Notes Dispenses a dot at 0004 Dispense Dot (180, 20, 35) X: 180 mm, Y: 20 mm, Z: 35 mm (First Part, first dot) 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...

  • Page 98: Input / Output Signal Processing

    Input / Output Signal Processing 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. The robot will then check the status of input signal #1 at the first part. If the signal is closed, the robot will dispense a dot then move to the next part.
  • Page 99 Addr. Command Notes WAIT POINT 0006 Wait for 0.25 seconds - Time: 0.25 sec Set INPUT / OUTPUT Open output signal # 1. Output 0007 Port #: 1 Output is turned 'off.' Status: 0 Check the status of input signal # 1. Set INPUT / OUTPUT If the input signal is closed (pin #1 is connected to ground / pin 13), the robot will...

  • Page 100: Needle Calibration

    Needle Calibration The program below is showing how to use needle calibration features. Robot will perform needle calibration before dispensing. And will repeat if the needle calibration counter numbers has been reached. Addr. Command Notes Robot performing needle calibration 0001 Needle Adjustment before dispensing start.

  • Page 101: Program With Dual Table

    Program with Dual Table The System is designed to run non-stop with dual table. End user needs to perform system configuration and assign Label# for working tables. See Section 5.4.26. Addr. Command Notes 0001 Lab 1 0002 Line Speed ( 50 mm/s ) Sets the line speed to 50 mm/sec Registers a Line Start point on LEFT Table at...

  • Page 102: Software Upgrade

    SECTION 7: Software Upgrade - Page 102 -...

  • Page 103: Upgrade Software

    Upgrade Software NOTE: To upgrade the software, it will use the USB memory stick 8904387 which comes with the Henkel Robot system, or you need a USB memory stick which meets below requirements. A. Capacity lower than 2G bytes. B. Format as FAT. Upgrade Procedure 1.

  • Page 104: Error Messages

    SECTION 8: Error Messages - Page 104 -...

  • Page 105: Point Closed Error

    Point Closed Error This message occurs when two adjacent line or arc points are registered at exactly the same XYZ location. Resolution: Do not register two line points one after the other at exactly the same XYZ location. 8.1.1 Need Line Start Point An attempt was made to register a Line Passing point, an Arc point or a Line End point without first registering a Line Start point.

  • Page 106: Address Over Memory

    8.1.4 Address Over Memory An attempt was made to copy data but the copy would exceed the maximum memory address. Resolution: Reduce the data to be copied. 8.1.5 Move Over Memory An attempt was made to move data but the move would exceed the maximum memory address.

  • Page 107: Equipment Warranty

    SECTION 9: Equipment Warranty - Page 107 -...

  • Page 108: Equipment Warranty

    For Loctite® EQ RB21 500DD Benchtop Robot ® Henkel expressly warrants that all products referred to in this Instruction Loctite EQ RB21 500DD Benchtop Robot (hereafter called “Products”) shall be free from defects in materials and workmanship. Liability for Henkel...
  • Page 109 Yokohama, 235-0017 Seoul, 121-734, KOREA JAPAN Loctite is a trademark of Henkel Corporation, U.S.A. © Copyright 2014. Henkel Corporation All rights reserved. Data in this operation manual is subject to change without notice. Manual P/N: 8904386, Rev A, Date: 01/13/2015...

This manual is also suitable for:

1328356

Table of Contents