Nordson EFD Quick Start Manual
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Nordson EFD Quick Start Manual

Nordson EFD Quick Start Manual

Dispensing robot
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Nordson EFD Dispensing Robot
Quick Start Guide
W RNING
Never connect or disconnect any
component while the robot is
powered up. This could cause
serious damage to the robot.

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Summary of Contents for Nordson EFD

  • Page 1 Nordson EFD Dispensing Robot Quick Start Guide W RNING Never connect or disconnect any component while the robot is powered up. This could cause serious damage to the robot.

  • Page 2: Table Of Contents

    Contents For Your Safety ........... . 3-6 Robot Setup Procedure.

  • Page 3: For Your Safety

    Safety 1. For Your Safety Safety Precautions The precautions stated in this manual are provided for the customer to make the best use of this product safely, and to provide preventive measures against injury to the customer or damage to property. Be sure to follow the instructions Various symbols are used in this manual.
  • Page 4 Safety 1. For Your Safety Warnings Be sure to check grounding. Improper grounding can cause electric shock or fire. Be sure to use within the voltage range indicated on the unit. Failure to do so may cause electric shock or fire. Plug the power cord into the wall outlet firmly.
  • Page 5 Safety 1. For Your Safety Warnings Use the machine indoors where no flammable or corrosive gas is present. Emission and accumulation of such gasses could lead to fire. IP Protection Rating is “IP30.” (“IP40” for CE specification) Be sure to unplug the power cord from the wall outlet if the robot will remain unused for long periods of time.
  • Page 6 Safety 1. For Your Safety Cautions Be sure to check grounding. Improper grounding may cause malfunction or defect. Use the Desktop Robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction.

  • Page 7: Robot Setup Procedure

    Insert the I/O-S connector into the I/O-S socket on the back of the robot and turn the round locking ring clockwise to secure. c. Connect the I/O-SYS cable between the Nordson EFD dispenser (controller) and the I/O-S socket on the back of the robot.

  • Page 8: Helpful Programming Hints

    Helpful Programming Hints 3. Helpful Programming Hints MODE 1. All programming with a Teach Pendant is performed in TEACHING MODE. Use the key to confirm that the robot is in TEACHING MODE before attempting to create or modify a program. PRG.NO 2.
  • Page 9 Helpful Programming Hints 3. Helpful Programming Hints Teach Pendant Note: 4-axis Robot Teach Pendant is shown here. (The 3-axis Teach Pendant does not have Rotation Jog Keys.) Refer to Section 3 for 4-axis robot-specific instructions and warnings. Rotation Jog Keys Function Keys (4-Axis Robot only) Arrow on key denotes direction...

  • Page 10: How To Use The Pink Jog Keys

    How to Use the Pink Jog Keys 4. How to Use the Pink Jog Keys Note: Always observe the robot’s movement when using the JOG keys – the x,y,z data display on the teach pendant may not update until you release the JOG key(s). keys are used to jog the platform and dispense tip into position as follows: •...

  • Page 11: Special Considerations If You Are Working With A 4-Axis Robot

    Working with a 4-Axis Robot 5. Special Considerations if You Are Working with a 4-Axis Robot DANGER: TO AVOID PERSONAL INJURY, NEVER ALLOW ANY PART OF YOUR BODY TO ENTER THE ROBOT’S WORK ENVELOPE WHEN THE 4-AXIS ROBOT IS EXECUTING A PROGRAM. The 4-axis robot is very similar to the 3-axis robot in terms of basic programming features and functionality.

  • Page 12: Teaching Tool Center Point On 4-Axis Robot

    Teaching Tool Center Point on 4-Axis Robot a. Teaching Tool Center Point on 4-Axis Robot This teaching feature allows the robot to create an offset that will allow it to maintain proper position on/over a part as the 4-Axis robot head rotates during program execution. This feature is generally used on a 4-Axis robot when mounting a dispense valve or syringe at an angle or when using a valve or syringe with an angled tip on a 4-Axis robot.

  • Page 13: How To Create And Name A New Program

    How to Create and Name a New Program 6. How to Create and Name a New Program ENTR MODE a. Press the key to enter Teaching Mode. Press the key. PRG.NO b. Press the key. c. Press the key below NEW at the bottom of the screen. d.

  • Page 14: How To Recall And Test Run A Saved Program

    How to Recall and Test Run a Saved Program 8. How to Recall and Test Run a Saved Program a. Press the PRG.NO key. b. The Enter a Number prompt will appear. If you know the Program number, use the Numeric Keypad to enter the desired program number and press .

  • Page 15: How To Edit A Saved Program

    How to Edit a Saved Program 10. How to Edit a Saved Program MODE ENTR a. Press the key to enter Teaching Mode. Press the key. PRG.NO b. Press the key. c. The ENTER A NUMBER prompt will appear. If you know the Program number use the Numeric ENTR Keypad to enter the desired program number and press .

  • Page 16: How To Delete A Point Within A Saved Program

    How to Delete a Point within a Saved Program b. How to Delete a Point within a Saved Program MODE ENTR a. Press the key to enter Teaching Mode. Press the key. PRG.NO b. Press the key. c. The ENTER A NUMBER prompt will appear. If you know the Program number use the Numeric ENTR Keypad to enter the desired program number and press .

  • Page 17: How To Edit A Point Within A Saved Program

    How to Edit a Point within a Saved Program c. How to Edit a Point within a Saved Program MODE ENTR a. Press the key to enter Teaching Mode. Press the key. PRG.NO b. Press the key. c. The ENTER A NUMBER prompt will appear. If you know the Program number use the Numeric ENTR Keypad to enter the desired program number and press .

  • Page 18: Setting Z-Axis Retract Distance After Dispense

    Setting Z-Axis Retract Distance After Dispense 11. Setting Z-Axis Retract Distance After Dispense Note: Use the same value for Z MOVE HEIGHT and Z UP HEIGHT MENU a. Press the key. CURSOR ENTR b. Use the keys to highlight Program Data Settings and press the key.

  • Page 19: How To Make A Single Dot

    How to Make a Single Dot 12. How to Make a Single Dot MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6. ENTR d.

  • Page 20: How To Make A Series Of Dots

    How to Make a Series of Dots 13. How to Make a Series of Dots MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6. d.

  • Page 21: How To Make A Straight Line

    How to Make a Straight Line 14. How to Make a Straight Line MODE a. Press the key. ENTR CURSOR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6. d.

  • Page 22: How To Make A Rectangle

    How to Make a Rectangle P1, P5 15. How to Make a Rectangle Note: These instructions have the first point of the rectangle in the upper left corner. However, any corner can be used as the starting point. When creating geometric shapes with the robot, remember the rules of geometry for the shape being created.
  • Page 23 How to Make a Rectangle ENTR m. The Line Speed screen will appear. Enter the desired speed and press the key. ENTR n. The Dispense screen will appear. Highlight ON and press the key. o. The entry screen will display with P3 (point 3) in the upper right corner. p.
  • Page 24 How to Make a Rectangle aa. The entry screen will display with P5 (point 5) in the upper right corner. CURSOR bb. At this point you want to use the keys to scroll back to P1 in the program. Once you have the data for P1 on screen press the button to move the robot to that position.

  • Page 25: How To Make An Arc

    How to Make an Arc 16. How to Make an Arc MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6. ENTR d.

  • Page 26: How To Make A Circle

    How to Make a Circle 17. How to Make a Circle MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6. d.

  • Page 27: How To Make An S-Shaped Line

    How to Make an S-shaped Line 18. How to Make an S-shaped Line MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6. d.
  • Page 28 How to Make an S-shaped Line s. The entry screen will display with P4 (point 4) in the upper right corner. Use the keys to jog the dispense tip to the top of the second arc (3 o’clock position) and ENTR press the key.

  • Page 29: How To Make Parallel Lines Connected By Arcs

    How to Make Parallel Lines Connected by Arcs P1, P7 19. How to Make Parallel Lines Connected by Arcs MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key. PRG.NO Press the key and assign a new program number as described in Section 6.
  • Page 30 How to Make Parallel Lines Connected by Arcs The Select Point Type screen will appear. ENTR CURSOR w. Use the keys to highlight LINE PASSING and press the key. ENTR x. The Line Speed screen will appear. Enter the desired speed and press the key.

  • Page 31: How To Make A Line Of Evenly Spaced Dots (Row Pallet)

    How to Make a Line of Evenly Spaced Dots (Row Pallet) 20. How to Make a Line of Evenly Spaced Dots (Row Pallet) MODE a. Press the key. ENTR CURSOR b. Use the keys to highlight TEACHING MODE and press the key.
  • Page 32 How to Make a Line of Evenly Spaced Dots (Row Pallet) u. The P0 Enter Position screen will be displayed. These settings should be the same as the P1 settings. ENTR v. If the settings ARE the same, press the key.

  • Page 33: How To Make A Grid Of Evenly Spaced Dots (Plane Pallet)

    How to Make a Grid of Evenly Spaced Dots (Plane Pallet) 21. How to Make a Grid of Evenly Spaced Dots (Plane Pallet) MODE a. Press the key. CURSOR ENTR b. Use the keys to highlight TEACHING MODE and press the key.
  • Page 34 How to Make a Grid of Evenly Spaced Dots (Plane Pallet) ENTR Enter the number of rows to be made and press the key. w. The P0 Enter Position screen will be displayed. These settings should be the same as the P1 settings. ENTR x.

  • Page 35: How To Adjust Z Height After Changing A Dispense Tip

    How to Adjust Z Height after Changing a Dispense Tip 22. How to Adjust Z Height after Changing a Dispense Tip Note: This procedure assumes that the same Z-value is used throughout the robot program. If this is not the case, use the point (P1, P2 …Pn) with the greatest Z-value when teaching the JOG OFFSET. EDIT a.

  • Page 36: Using The Rotation Feature On A 4-Axis Robot

    Using the Rotation Feature on a 4-Axis Robot 23. Using the Rotation Feature on a 4-Axis Robot In this exercise the rotation feature of the 4-axis robot is used to keep a 45° P1/P5 angled dispensed tip in contact with a raised circular part (a jar lid) while dispensing along the perimeter of the circular part.
  • Page 37 Using the Rotation Feature on a 4-Axis Robot CURSOR ENTR The Dispense screen will appear. Use the keys to select ON then press the key. k. When the data screen for P2 appears use the keys to move the robot head to a point ~ 3"- 4" to the right of the part.
  • Page 38 Using the Rotation Feature on a 4-Axis Robot aa. The Select Point Type screen will appear. ENTR CURSOR bb. Use the keys to highlight CP Arc Point and press the key. cc. The Line Speed screen will appear. Enter 25 (mm/s) and press the ENTR key.

  • Page 39: Teaching An Alternative Home Position On A 4-Axis Robot

    Teaching an Alternative HOME Position on a 4-Axis Robot 24. Teaching an Alternative HOME Position on a 4-Axis Robot Use the following procedure if the robot hits the part as it returns to the default HOME position (0,0,0,0) after executing a program. The following procedure assumes that the user is now familiar with the basic programming and operation of the 3-axis robot as covered in the preceding sections of this document.
  • Page 40 Teaching an Alternative HOME Position on a 4-Axis Robot ENTR i. Select “Other Parameter” from the drop down list and press the key. ENTR j. Select “Initialize at Start” and press the key. CURSOR ENTR k. Use the key to select “Invalid” and press the key.
  • Page 41 EFD One Year Limited Warranty (DR Series Robot) All components of EFD DR Series robots are warranted for one year from date of purchase to be free from defects in material and workmanship (but not against damage caused by abuse,...

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