FISNAR F4000N ADVANCE Series User manual

F4000N ADVANCE Operating Manual
Rev 5 January 2023
[e-mail] | www.fisnar.com
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F4000N ADVANCE SERIES
ROBOT
OPERATING MANUAL

F4000N Advance Series Operating Manual
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F4000N Advance Series Operating Manual
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Table of Contents
SECTION 1: Introduction...................................................................................................................7
1Safety Precautions .....................................................................................................................................8
2Package Contents.......................................................................................................................................9
3Connector and Switch Locations............................................................................................................11
3.1 Front Side View ............................................................................................................................................11
3.2 Rear Side View .............................................................................................................................................11
SECTION 2: Setup ............................................................................................................................12
1Unpacking the Robot...............................................................................................................................13
2Remove Foaming Package ......................................................................................................................13
3Setup .........................................................................................................................................................14
44 & 5 Axis Operation and Setup.............................................................................................................16
4.1 4 Axis Tool Tip Alignment ...........................................................................................................................16
4.2 5 Axis Operational Procedure .......................................................................................................................19
4.3 5 Axis V-Axis Alignment .............................................................................................................................20
4.4 5 Axis Tool Tip Alignment (Calibration is needed when the dispense tip is replaced.) ...............................23
4.5 5 Axis V-Axis Operation...............................................................................................................................27
SECTION 3: Teaching Overview......................................................................................................31
1Teaching Overview..................................................................................................................................32
2Using the Teach Pendant ........................................................................................................................34
2.1 Key Selection ................................................................................................................................................34
2.2 Key Assignments ..........................................................................................................................................35
2.3 Navigation Menu...........................................................................................................................................36
2.4 Jogging..........................................................................................................................................................36
2.5 Data Entry .....................................................................................................................................................36
2.6 Running a Program .......................................................................................................................................37
3Teach Pendant Key Assignments ...........................................................................................................37
4Point Type & Function Summary..........................................................................................................41
4.1 Point Menu....................................................................................................................................................41
4.2 Setup Menu ...................................................................................................................................................43
4.3 Menu 1 ..........................................................................................................................................................46
4.4 Utility Menu ..................................................................................................................................................47
4.5 Menu 2 ..........................................................................................................................................................48
SECTION 4: Programming Example...............................................................................................49
1Programming Example ...........................................................................................................................50
2Good Programming Practices ................................................................................................................53
3Editing a Program ...................................................................................................................................53
3.1 Changing a Point’s XYZ location .................................................................................................................53
3.2 Insert / Delete an Instruction .........................................................................................................................54
4Changing the Program Number.............................................................................................................54
5Changing from Teach Mode to Run Mode ...........................................................................................54
SECTION 5: Point Type & Function Reference .............................................................................55
1Point Menu ...............................................................................................................................................56

F4000N Advance Series Operating Manual
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1.1 Dispense Dot ................................................................................................................................................ 56
1.2 Line Start ...................................................................................................................................................... 56
1.3 Line Passing.................................................................................................................................................. 57
1.4 Circle ............................................................................................................................................................ 57
1.5 Arc Point....................................................................................................................................................... 59
1.6 Line End ....................................................................................................................................................... 59
1.7 End Program................................................................................................................................................. 59
1.8 Dispense ON / OFF ...................................................................................................................................... 60
1.9 Goto Address ................................................................................................................................................ 60
1.10 Step & Repeat X........................................................................................................................................... 61
1.11 Step & Repeat Y........................................................................................................................................... 65
1.12 Brush Area.................................................................................................................................................... 66
1.13 Call Subroutine............................................................................................................................................. 72
1.14 Call Program................................................................................................................................................. 73
1.15 Set I/O........................................................................................................................................................... 73
1.16 Wait Point..................................................................................................................................................... 73
1.17 Stop Point ..................................................................................................................................................... 73
1.18 Home Point................................................................................................................................................... 74
1.19 Loop Address................................................................................................................................................ 74
1.20 Dummy Point................................................................................................................................................ 74
1.21 Initialize........................................................................................................................................................ 74
1.22 Label............................................................................................................................................................. 74
1.23 Blend Point ................................................................................................................................................... 75
2Setup Menu ..............................................................................................................................................75
2.1 Line Speed .................................................................................................................................................... 75
2.2 Line Dispense Setup ..................................................................................................................................... 76
2.3 Point Dispense Setup .................................................................................................................................... 77
2.4 Dispense End Setup...................................................................................................................................... 77
2.5 Z Clearance................................................................................................................................................... 78
2.6 X/Y Move Speed .......................................................................................................................................... 79
2.7 Z Move Speed............................................................................................................................................... 79
2.8 Home Position .............................................................................................................................................. 79
2.9 Adjust Origin ................................................................................................................................................ 80
2.10 Retract Setup ................................................................................................................................................ 82
2.11 Quickstep...................................................................................................................................................... 84
2.12 Auto Purge Setup.......................................................................................................................................... 84
2.13 ESTOP Output.............................................................................................................................................. 85
2.14 Acceleration.................................................................................................................................................. 85
2.15 Pause Status .................................................................................................................................................. 85
2.16 Language ...................................................................................................................................................... 85
2.17 Tip Detect Position ....................................................................................................................................... 86
2.18 Tip Detect Offset .......................................................................................................................................... 87
2.19 Running Home First ..................................................................................................................................... 89
2.20 Pre Dispense Wait Time ............................................................................................................................... 89
2.21 Circle Dispense Setup................................................................................................................................... 90
2.22 Dispense Outport .......................................................................................................................................... 90
2.23 Tip Search..................................................................................................................................................... 91
2.24 Tip Search Ext. Trigger ................................................................................................................................ 91
2.25 Soft ORG Point............................................................................................................................................. 91
3Menu 1 ......................................................................................................................................................92
3.1 Group Edit .................................................................................................................................................... 92
3.2 Expand Step & Repeat.................................................................................................................................. 99
3.3 Program Name............................................................................................................................................ 100
3.4 Z Axis Limit ............................................................................................................................................... 100
3.5 Initial IO ..................................................................................................................................................... 100
3.6 Debug Speed............................................................................................................................................... 101
3.7 Utility Menu ............................................................................................................................................... 101
3.8 Run Mode ................................................................................................................................................... 101
3.9 Resume Program......................................................................................................................................... 104
3.10 Jog Speed.................................................................................................................................................... 104

F4000N Advance Series Operating Manual
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3.11 Relocate Data ..............................................................................................................................................105
3.12 Move Z Lifting............................................................................................................................................106
3.13 Z Lifting Length..........................................................................................................................................107
3.14 Ext. Program Switch ...................................................................................................................................107
4Utility Menu ...........................................................................................................................................108
4.1 Program.......................................................................................................................................................108
4.2 Memory.......................................................................................................................................................108
4.3 Teach Pendant .............................................................................................................................................108
4.4 Re-rocate Data.............................................................................................................................................109
4.5 Lock ............................................................................................................................................................110
4.6 Password Setup ...........................................................................................................................................110
4.7 Cycle Counter..............................................................................................................................................111
4.8 Key Beep.....................................................................................................................................................111
4.9 Test Function...............................................................................................................................................111
4.10 USB.............................................................................................................................................................113
4.11 Remote Command.......................................................................................................................................118
4.12 Program Capacity........................................................................................................................................120
4.13 Online Signal...............................................................................................................................................120
4.14 Bar Code Reader .........................................................................................................................................121
5Menu 2 ....................................................................................................................................................126
5.1 Numerical Move..........................................................................................................................................126
5.2 Save Temp Point .........................................................................................................................................126
5.3 Retrieve Temp Point....................................................................................................................................126
5.4 Undo Program .............................................................................................................................................126
5.5 Redo Program..............................................................................................................................................126
5.6 Debug Program ...........................................................................................................................................126
5.7 Home Position.............................................................................................................................................126
5.8 System Information .....................................................................................................................................126
5.9 Execute Point ..............................................................................................................................................127
5.10 Cycle Time ..................................................................................................................................................127
SECTION 6: Sample Programs ......................................................................................................128
1Dots, Lines and Arcs – Sample Program.............................................................................................129
2Brush Area – Sample Program ............................................................................................................131
3Step & Repeat – Sample Program .......................................................................................................132
4Input / Output Signal Processing – Sample Program ........................................................................133
SECTION 7: Error Messages and Specifications ..........................................................................136
1Error Messages ......................................................................................................................................137
1.1 Point Closed Error.......................................................................................................................................137
1.2 Need Line Start Point ..................................................................................................................................137
1.3 Need Step & Repeat ....................................................................................................................................137
1.4 Unlock Program ..........................................................................................................................................137
1.5 Address Over Memory ................................................................................................................................137
1.6 Move Over Memory....................................................................................................................................137
1.7 System Error................................................................................................................................................137
2I/O Specifications...................................................................................................................................138
2.1 Dispenser Connector: ..................................................................................................................................138
2.2 Ext. Control Connector: ..............................................................................................................................139
2.3 Output Signals.............................................................................................................................................140
2.4 Input Signals................................................................................................................................................142
2.5 Input / Output Schematic.............................................................................................................................143
2.6 Input / Output Power Specifications ...........................................................................................................144
3System Specifications ............................................................................................................................145

F4000N Advance Series Operating Manual
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4Machine Dimensions .............................................................................................................................146
4.1 F4303N ADVANCE Dimensions............................................................................................................... 146
4.2 F4403N ADVANCE Dimensions............................................................................................................... 147
4.3 F4503N ADVANCE Dimensions............................................................................................................... 148
4.4 F4603N ADVANCE Dimensions............................................................................................................... 149
4.5 F4304N ADVANCE Dimensions............................................................................................................... 150
4.6 F4404N ADVANCE Dimensions............................................................................................................... 151
4.7 F4504N ADVANCE Dimensions............................................................................................................... 152
4.8 F4604N ADVANCE Dimensions............................................................................................................... 153
4.9 F4505N ADVANCE Dimensions............................................................................................................... 154
4.10 Work Table Dimensions - F4000N ADVANCE 3-Axis ............................................................................ 155
4.11 Work Table Dimensions - F4000N ADVANCE 4-Axis & 5-Axis............................................................. 155
4.12 Vision System Z-Axis Mounting Plate Dimensions - F4000N ADVANCE 3-Axis .................................. 156
4.13 Z-Axis Fixing Head Dimensions - F4000N ADVANCE 3-Axis................................................................ 156
SECTION 8: Maintenance and Periodic Inspection..................................................................... 157
1Check Cycles and Methods...................................................................................................................158
1.1 General Consideration ................................................................................................................................ 158
1.2 Check Cycles and Points ............................................................................................................................ 158
1.3 Check Methods........................................................................................................................................... 159
2Greasing Procedure...............................................................................................................................160
2.1 Grease Type and Greasing Interval ............................................................................................................ 160
2.2 Accessing Parts to be Greased.................................................................................................................... 160

F4000N Advance Series Operating Manual
Section 1: Introduction
Rev 5 January 2023
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SECTION 1: Introduction

F4000N Advance Series Operating Manual
Section 1: Introduction
Rev 5 January 2023
[e-mail] | www.fisnar.com
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1 Safety Precautions
1.1 In order to meet the requirements of the European Community (CE) safety
directives, the robot must be placed in a suitable CE compliant safety enclosure.
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 while the
robot is running.
1.2 Make sure the robot and accessories are connected to a properly grounded power
source.
1.3 Do not drop or spill foreign objects or material such as screws or liquids into the robot.
1.4 Do not touch any moving parts while the robot is running.
1.5 Loading and unloading of parts and material must be done when the robot is not running.
1.6 Changing of fixtures or tooling must be done with the power source disconnected.
1.7 The robot should only be operated in an environment of 0 to 40 degrees centigrade and
humidity of 20 to 95 percent with no condensation.
1.8 Do not store or install the robot in an area where it is exposed to direct sunlight.
1.9 Do not operate the robot where electrical noise is present.
1.10 Only use a neutral detergent for cleaning. Do not use alcohol, benzene or thinner.

F4000N Advance Series Operating Manual
Section 1: Introduction
Rev 5 January 2023
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2 Package Contents
In addition to this operating manual, the following items should be included with the robot:
Main Unit
Enclosure
(CE Units Only – NOT INCLUDED)
Teach Pendant
Barrel Holder
USB Drive
Spare Screws and Hex Key
Start / Stop Box
(optional)
Dispenser Cable
Power Cord
I/O Port Connector
com power
shift
F1 F2 F3
Deb.
D.On
Jump Move
ZCl. Dum.
Point
Shift Ins Del Clear Esc
End +10 +1
First -10 -1
UndoRedo
0
7
4
1 2 3
6
5
8 9
¡D
FAST
R Z
Y
X
R Z
X
Y
Edit USB
¡D
Label
¡D
Start/Home
Run

F4000N Advance Series Operating Manual
Section 1: Introduction
Rev 5 January 2023
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Teach Pendant Holder
EXT. Port Connector
Shorted EXT. Port Connector
Worktable Extension Posts
Worktable Locating Studs
Vision System Z-axis Mounting Plate
Heavy Duty Z-Axis Springs
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.

F4000N Advance Series Operating Manual
Section 1: Introduction
Rev 5 January 2023
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3 Connector and Switch Locations
3.1 Front Side View
3.2 Rear Side View
Teach Pendant Connector
Dispenser Cable Connector
External Control (Start Box) Connector
Input / Output Connector
USB Port
Power Switch
Dispenser Purge Button
Program No. Switch
RUN / TEACH
Mode Switch
Start Button
Emergency Stop
Power Inlet
RS232 Connector

F4000N Advance Series Operating Manual
Section 2: Setup
Rev 5 January 2023
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SECTION 2: Setup

F4000N Advance Series Operating Manual
Section 2: Setup
Rev 5 January 2023
[e-mail] | www.fisnar.com
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1 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.
•Remove all accessories from the shipping package before attempting to remove the robot.
•Place the robot on a stable workbench.
•Do not discard the packing material as these items may be needed if the robot is shipped
or moved in the future.
2 Remove Foaming Package
All units are shipped from the factory with Foaming Covers installed. The shipping Foaming
Covers secure the worktable to Y Axis and X/Z head to prevent movement and damage
during shipment.
Remove the shipping Foaming Covers removing the secured tapes.
Keep the Foaming Covers and packages in a safe place for future use.

F4000N Advance Series Operating Manual
Section 2: Setup
Rev 5 January 2023
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Barrel Holder
3 Setup
The F4000N Advance 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.
The steps required to setup a system using a 30 cc or 55 cc barrel and a DC100 dispensing
controller are described below.
3.1. If the system is being used in the European Community, the robot must be placed in a
suitable CE compliant safety enclosure. 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 or light curtain is activated while the robot is running. Connect
the external start / stop box and door switch or light curtain to the Ext. Control
connector on the main unit. For further information, see SECTION 7:2.1 Ext. Control
Connector.
If an enclosure is NOT being used, the enclosure door switch circuit can be
bypassed by connecting the plug labeled SHORTED (included in the robot
accessories box) to the Ext. Control Connector.
3.2. Standard systems are shipped with a barrel
holder, which can be mounted on the Z-Axis
head of the robot. The barrel holder will hold a
30 cc or 55 cc barrel on the robot’s head.
Optional mounting brackets are available as a
replacement for the barrel holder if the
application so requires.
3.3. Mount the barrel holder or appropriate
mounting bracket on the Z-Axis head as
shown, using two screws. The barrel holder has several sets of mounting holes to allow
it to be mounted at four different heights. Choose mounting holes which give maximum
work piece clearance but allow the tip to reach all areas on the work piece where
dispensing is required.

F4000N Advance Series Operating Manual
Section 2: Setup
Rev 5 January 2023
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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.
Connect the female round connector from the other end of the dispenser interface
cable to the FOOT PEDAL connector at the back side of the dispenser.
3.5. Connect the male end of the barrel adapter assembly (supplied separately) to the air
output connector on the front side of the DC100.
Connect the barrel adapter end of the barrel adapter assembly to a 30 cc or 55 cc
barrel of material. Connect the appropriate luer lock dispensing tip to the end of the
barrel. Place the barrel in the barrel holder on the robot’s Z head.
Detailed instructions for setting up the DC100 dispenser can be found in the manual
provided with the DC100.
3.6. For normal operation, the DC100 dispenser should be put into manual mode.
3.7. Connect the Teach Pendant cable to the Teach Pendant connector on the robot.
3.8. Connect the power cord of the DC100 to the back side of the dispenser.
3.9. Connect the power cord of the robot to the power socket on the robot.
3.10. Tie back all cables and air lines so that they will not interfere with the robot’s motion
when the robot is operating. Be sure that the cables and air lines do not restrict the
motion of the robot’s head and of the robot’s table and make sure that they cannot
become jammed as the robot moves through the work area.

F4000N Advance Series Operating Manual
Section 3: Teaching Overview
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4 4 & 5 Axis Operation and Setup
4.1 4 Axis Tool Tip Alignment
Tool Tip Alignment function is intended to help user to easily align the dispensing tip,
mounted on the syringe, to the centre of R-axis. After alignment, the tip will become the centre
of the R-axis and the robot will automatically compensate the X and Y coordinates, to match
where the tip will point to but it will not compensate the Z-coordinate.
•The Tool Tip Alignment function must be performed prior to programming. Follow steps
1 through 6 below.
•The Tool Tip Alignment function must also be performed whenever a new tip is
installed. Follow steps 1 through 14 below.
The most critical item in this process is how to align the new/replaced tip with a feature on the
fixture or work-table. The operator needs to align the centre of the tip with the feature. The R-
axis must be able to rotate 360 around this feature. Ideally, the feature should be a point so
the user may always align the centre of the tip to this point. The Tool Tip Alignment Function
should be performed in TEACH MODE.

F4000N Advance Series Operating Manual
Section 3: Teaching Overview
Rev 5 January 2023
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Instruction
Display shows
1 Send the robot to the Home position by pressing
Start/Home
Depends where in the program
the instruction is executed.
2
Press the Setup button. Select Adjust Position.
Select 2. Jog Table. Press ENTER
[MESSAGE BOX]
Move TIP to position
3
Move the tip to a reference point on the worktable
or a fixture using only the X, Y, Z direction. The R-
axis must be left at 0-degrees. You must use the
same reference point in all subsequent
adjustments. See picture above for example. Press
ENTER.
Depends where in the program
the instruction is executed
4
Press [F3] key to execute Tool Tip Alignment. The
tip will move directly up and then down upon the
same reference point defined in the previous step.
[MESSAGE BOX]
Move TIP to Point (0 deg)
5
since the tip is in exactly the same position as
defined in step #3, simply press ENTER. R-axis
will turn 180 degrees automatically.
[MESSAGE BOX]
Move TIP to Point (180 deg)
6
Using only X and Y movement, jog the 180-degree
tip onto the same reference point. See picture
above for example. Press ENTER. Screen will
quickly display “Complete!”
[MESSAGE BOX]
Complete!
7
The new position of the tip may be lower (Z
Direction) that the previous tip. To avoid crashing
into fixture or work piece, a two-step Z-direction
offset must be performed. Step one is to subtract
5mm from all Z-values
Depends where in the program
the instruction is executed.

F4000N Advance Series Operating Manual
Section 3: Teaching Overview
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- Page 18 -
8
Press the MENU1 key, then 1to select Group Edit.
Since we want the offset on all points, simply press
F1 for all points
GROUP EDIT
1.Copy 5. Dispense Time
2.Delete 6. Offset
3.Move 7. Offset to
4.Line Speed
Select:
9
The Group Edit menu will then appear, allowing the
user to select an operation to be applied to the
range of points. Press 6to select Offset. Then
press ENTER.
GROUP OFFSET
--------------------------
X Offset: 0
Y Offset: 0
Z Offset: 0
Unit: mm
10
The display will prompt the user to type the X, Y, Z
offset amounts to be added to all points. We want
to offset just the Z-axis. Press ENTER two times to
leave the X and Y offsets at zero. Press Clear and
then type -5 and press ENTER to subtract 5 mm
from the Z-axis values.
GROUP OFFSET
X Offset: 0
Y Offset: 0
Z Offset: -5
1.Yes 2.No
Select:
11
The display will now prompt the user to confirm the
change. Press 1to select Yes. Then press ENTER.
Depends where in the program
the instruction is executed.
12
The new Z-axis values are safe enough so that the
new tip will not crash into the work piece or fixture.
Now the user must bring the tip down to the proper
height. Press the MENU1 key, then 1to select
Group Edit. Since we want the offset on all points,
simply press F1 for all points
GROUP EDIT
1.Copy 5. Dispense Time
2.Delete 6. Offset
3.Move 7. Offset to
4.Line Speed
Select:
13
The Group Edit menu will then appear, allowing the
user to select an operation to be applied to the
range of points. Press 7to select Offset to. Then
press ENTER.
[MESSAGE BOX]
Move TIP to Dest.Point
14
Using only the Z button, move the tip down on the
point corresponding to the correct height. Press
ENTER.
Depends where in the program
the instruction is executed.

F4000N Advance Series Operating Manual
Section 3: Teaching Overview
Rev 5 January 2023
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- Page 19 -
4.2 5 Axis Operational Procedure

F4000N Advance Series Operating Manual
Section 3: Teaching Overview
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- Page 20 -
4.3 5 Axis V-Axis Alignment
Please prepare a ruler on the worktable. Please jog the tip to the left side of the ruler, the
condition should be parallel.