Aim FD400 User manual

FD400 & FDhighV
USER MANUAL
AIM
ROBOTICS
ORIGINAL INSTRUCTIONS (EN) VERSION 0.4

THE INFORMATION CONTAINED HEREIN IS THE PROPERTY OF AIM ROBOTICS APS AND
SHALL NOT BE REPRODUCED IN WHOLE OR IN PART WITHOUT PRIOR WRITTEN
APPROVAL BY AIM ROBOTICS APS. THE INFORMATION IS SUBJECT TO CHANGES
WITHOUT NOTICE AND SHOULD NOT BE CONSTRUED AS A COMMITMENT BY AIM
ROBOTICS APS. THIS MANUAL WILL PERIODICALLY REVIEWED AND REVISED.
AIM ROBOTICS APS ASSUME NO RESPONSIBILITY FOR ANY ERRORS OR OMISSIONS IN
THIS DOCUMENT.
COPYRIGHT (C) 2020-2021 BY AIM ROBOTICS APS.

TABLE OF CONTENT
FD400 TECHNICAL DATA
WHAT'S IN THE BOX
FDhighV TECHNICAL DATA
WHAT'S IN THE BOX
INSTALLATION
OPERATIONS GUIDE
SOFTWARE CONFIGURATION
PROGRAMMING
Dispensing Node
Auto TCP
Circles
Waves
Pre-feed Node
Installation Node / Purge Cycle
Purge Node
SAFETY
HOW TO
FAQ
CERTIFICATION:
EU DECLARATION OF INCORPORATION
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8
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11
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LED INDICATOR
D
ROD T AB
PUMP UNIT
CA RT RI DG E BARREL
ROD HANDLE
FLUID FUNNEL
WHAT'S IN THE BOX
1
E
A
C
B
a
FD400
3 X NOZZLES
8P IN L EA D
USB WITH URCAP
6xM6 SCREW
1x O RI EN TA TION PIN

2
Only connect to cobot, no need for external air supply
Use with 400ml cartridges DIN 1284
Recommended for single-component medium viscosity
fluids, NLGI class 2-3
FD400 FEATURES
Model # FD400
URCap version ≥ 3.0
Mechanical interface: ISO 9409-1, type 50-4-M6
Electrical interface: 8-pole M8
Digital interfaces: URCap, PolyScope ≥ 5.5
URCap, API ≥ 1.8
RS485
24V I/O
Weight (without cartridge): 1.7kg
Dimensions: 135 x 145 x 390mm
TECHNICAL DATA
FD400

3 X NOZZLES
8P IN L EA D
WHAT'S IN THE BOX
3
USB WITH URCAP
LED INDICATOR
D
PUMP UNIT
NPT 1/4 INLET
FC
FDhighV
6xM6 SCREW
1x O RI EN TA TION PIN

4
TECHNICAL DATA
65
130
170
Use with external feeding system
Recommended for single-component medium to high
viscosity fluids
FDhighV FEATURES
Model # FDhighV
URCap version ≥ 3.0
Mechanical interface: ISO 9409-1, type 50-4-M6
NPT 1/4
Electrical interface: 8-pole M8
Digital interfaces: URCap, PolyScope ≥ 5.5
URCap, API ≥ 1.8
RS485
24V I/O
Weight: 0.8kg
Dimensions: 65 x 130 x 170mm
FDhighV

INSTALLATION: FD400
While the robot is off or
tool I/O is zero: Plug in
the 8 pin connector* into
unit and robot.
Pull the rod handle (A)
fully back
Insert new cartridge
Remove top lid of
cartridge
Screw cartridge barrel
into funnel (E)
Release the rod handle
by pulling it back and
pressing the tab (a)
The rod is now fully
inserted into the fluid and
the handle is fully against
the barrel
On the cartridge remove
back lid
Attach unit to robot flange
with 4 screws
1. Assemble unit and attach to robot
Attach funnel (E)
with 2 screws
5
2. Load cartridge
400ml DIN 1284
FD400

* The 8 pin connector lead
Ensure Tool IO voltage is set to 'zero' or robot is off before attaching tool.
Refer to the 'How to' page for guidance.
If robot shows error after attaching tool - restart the robot to reset.
Position the lead from the unit to the robot so that it does not create a risk.
The pin can be inserted for orientation.
Attach NPT1/4" connector
with feeding line to inlet
(F)
While the robot is off or
tool I/O is zero: Plug in
the 8 pin connector* into
unit and robot.
Assemble unit and attach to robot
Attach unit to robot flange
with 4 screws
FDhighV
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LED indicator (D)
The unit has a LED indicator. When the unit has power a steady light is shown.
INSTALLATION: FDhighV

INSTALLATION: 310adapt
Pull back rod handle and
angle it to keep it
extended
Insert cartridge into barrel
7
Attach barrel into funnel
(E)
Release rod handle from
ledge (It will stay
extended)
Adapt FD400 to use 310ml cartridges
Screw adaptor on to the
cartridge
Cut tip off cartridge

OPERATIONS GUIDE
Start up
In Installation > URCaps > Setup tab, select the Press&Hold to dispense button and
press until there is a steady flow through the dispenser.
After the unit has been paused or stopped, through flow should be tested and the tip
changed
Cleaning
We recommend filling the unit with a fluid cleanser and letting it run through the system.
It is also possible to disassemble the unit and clean the parts individually. Any part
containing electronics or motor must NOT be opened and cleaned.
"Purge Cycle"
The Purge Cycle, when activated, is a predefined cycle that ensures the fluid does not
settle in the unit. This can be useful in pauses, production breaks or at setup.
When the unit is positioned over the Purge Position the unit will dispense for 0,5
seconds every 5 minutes ensuring flow.
"Purge Position"
Place a container at this position to collect the fluid dispensed.
Use this position to purge the unit at cartridge refill, at pause or at end of shift.
This is an operator defined position which is where the robot will know it can dispense if
the Purge Cycle has been activated.
"Press & Hold to dispense"
When using a new cartridge or after a pause then it is recommended to purge the
system. Press & Hold the button to dispense fluid continuously. Use this to ensure even
flow in the unit.
"PullBack"
The PullBack function holds back the fluid to ensure more precise dispensing at the end
of the path. Use this to prevent fluid 'hanging' from the nozzle after dispensing along
thepath.
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Pull back rod handle and lock it in place, then remove cartridge holder form unit
Pull out old cartridge and clean holder with a dry cloth before inserting new cartridge
In Installation > URCaps > Setup Tab: select Press&Hold to dispense button and
press until there is a steady flow through the dispenser.
If Empty: Remove cartridge from funnel
If not Empty:
After replacing with new cartridge:
Change of Cartridge

If password protected:
Enter Manual Mode: Press and select manual
Enter Password
If not protected by password:
Press and select Settings > System > URCaps
Press symbol to add a new URCap: Navigate to USB device and select Aim
URCap
Accept when the robot prompts to restart before continuing.
This feature will guide you though setup of the Tool Centre Point (the position of the
tip relative to the flange).
Select the Installation tab
for Payload select General > TCP: Payload and Centre of Gravity and press the wizard
button or enter manually (unit itself + weight of cartridge).
To define Tool Centre Point, TCP select General > TCP: Tool Center Point and press
the wizard button
SOFTWARE CONFIGURATION
2. Payload and TCP
9
+
1. Install URCap *
* Multiple URCaps
If multiple URCaps are installed the tool might not perform as intended
Some tools are programmed to takeover and control the Tool IO and will not
allow the Aim URCap to change the Tool IO.
It is recommended to remove all other tool URCaps to avoid this OR ensure
that Tool IO is controlled by user and input manually entered as described in
point 3. Installation of SD unit

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Select the Installation tab and select General > Tool IO
In the IO interface control section use pull down menu to select Aim URCap
In the IO interface control section use pull down menu to select User
Change Tool Output Voltage to 24
The Tool IO can be controlled by the Aim URCap
The Tool IO can be controlled by user and manually entered
You are now ready to start programming your unit to start dispensing.
SOFTWARE CONFIGURATION
3. Unit Installation

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Select the Program tab and select URCaps > Dispense Node
In the Program tree; insert moves and waypoint to define the dispensing path *
Select Dispensing speed (normally start with 25 microlitre).
If necessary, select Pullback, which holds back the fluid to ensure more precise
dispensing at end of path or to prevent fluid 'hanging' from the nozzle after
dispensing.
Activate Run with Dispensing when path is tested and ready for dispensing.
Auto TCP speed ensures the dispensing speed varies with the robot speed. It is
disabled as default. It it possible to multiply the dispensing speed for thicker lines. To
enable Auto TCP speed press the Enable button.
Programming the unit
PROGRAMMING
Aim Dispense Node
* Maintaining the same distance to the surface
When programming the dispensing path it is recommended to lock to the z-axis
while in freedrive mode.

To program circles select the button.
In the Program tree the Set Circle move has been inserted.
Enter Circle Radius and select Center Point to define the center of the circle.
After entering the Robot speed and Robot Acceleration press Move to start. This
will be the point where the robots starts dispensing the circle. Consider the run-up to
this point when programming.
Programming CIRCLES
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PROGRAMMING
Radius
Centre
point

To program waves select the button.
In the Program tree the Set Wave move has been inserted.
Enter Wave Count (amount of waves between start and end point)
Enter Wave Width
Press Add Start-End to select the start and end point of the line for the wave to
follow
Programming WAVES
The wave curve is also dependant on the robots movements.
Wave count
Start
End
Wave width
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PROGRAMMING

This node can be used if the PullBack command is also used. When adding a pullback it
'returns' a little fluid in the nozzle.
In order for the next path to start dispensing at the start point defined the PreFeed will
start the dispensing the just before the path starts to ensure the fluid is ready at the tip
of the nozzle for a smooth start.
PROGRAMMING
Aim Pre-Feed Node
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Fluid out of tip Fluid after
PullBack
Fluid after
PreFeed

Select the Installation tab and select URCaps > Aim
In Setup you can activate the Purge Cycle and the connected inputs (Purging
speed, time and waiting time). These options are only available if the Purge
Cycle has been activated. The Purge Cycle is not part of the program and only
runs if the program is stopped and positioned over the Purge Position. This can
be useful if the unit has to stand for a longer period of time.
Use Set Purge Position to define the position the robot has to been in when
purging / cleaning.
Use Press and Hold to Dispense to dispense the fluid at startup to fill system
PROGRAMMING
Aim Installation Node / Purge Cycle
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Purge Position
Dispenses for 0.5 seconds
every 10 minutes, when in Purge Position
Example

This can be used to ensure the fluid does not harden in the tip while the program is
running or to wipe the tip.
The parameters and the Purge Point must be defined in the Purge Node. Select
Purge Point in the program tree.
This node will run in the program tree, if inserted.
If a Halt command is added at Purge Position, and the Clean Cycle is active, the
cleaning cycle will start.
PROGRAMMING
Aim Purge Node
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Sharp objects
The FD400 can be equipped with nozzles and needles to dispense as
desired.
Caution should be taken when using these attachments, because they
can puncture your skin.
Define path to and from the dispensing path
Define path to and from the purge point
As the units can be used with nozzles care should be taken when defining
the movement for the robot ensuring the tip does not cause incidents.
Tool Speed / Elbow Speed: In the safety settings consider changing speeds to ensure
only full speed when dispensing and reduced speed when away from the path to
avoid needle injuries.
Tool Force / Elbow Force: Limit the maximum force exerted by the tool or elbow on
the environment.
It is recommended to set robot limitations in Installation > Safety > Robot Limits:
reduce limits to ensure greater safety so that the robot will stop dispensing if it exceeds
these limits.
Take care when inserting / removing / releasing the handle on the container as
the spring might release the container from the unit with great force. Hold on
tight.
Ensure the container is correctly fitted to unit before releasing the handle to
avoid it falling of the unit
Take care when attaching the container to the unit. If it is done while the unit is
on the robot be careful to not use too much force, to protect the robot.
Any change to the unit or in-correct assembly, such as removing o-rings or not
screwing the unit on correctly , may lead to accidents, failures or leaks.
Ensure that the orifice of the tip is suitable for the fluid to avoid pressure build
up.
The electronics box must not be opened or the warranty will be void.
SAFETY
CAUTION
Control path of tip
Limitations
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