I&J Fisnar I&J7000C User manual

I&J7000C Series Operating Manual
Part # 561978C
Rev. F Dec. 06
I&J7000C
OPERATING MANUAL

I&J7000C Series Operating Manual
Part # 561978C
Rev. F Dec. 06
- Page 1-
© 2006 I&J Fisnar Inc.

I&J7000C Series Operating Manual
Part # 561978C
Rev. F Dec. 06
- Page 2-
© 2006 I&J Fisnar Inc.
T ABLE OF C ONTENTS
SECTION 1: INTRODUCTION ...........................................................................................5
1 S AFETY P RECAUTIONS ........................................................................................................6
2 P ACKAGE C ONTENTS ..........................................................................................................7
3 C ONNECTOR AND S WITCH L OCATIONS .................................................................................8
3.1 Front View.....................................................................................................................................8
3.2 Rear View......................................................................................................................................8
3.3 Control Panel................................................................................................................................9
SECTION 2: SETUP..............................................................................................................10
1 U NPACK THE R OBOT ...........................................................................................................11
2 R EMOVE S HIPPING B RACKET ..............................................................................................11
3 S ETUP ................................................................................................................................12
SECTION 3: TEACHING OVERVIEW ..............................................................................14
1 T EACHING O VERVIEW .........................................................................................................15
2 U SING THE T EACH P ENDANT ...............................................................................................17
2.1 Key Selection.................................................................................................................................17
2.2 Key Assignments............................................................................................................................18
2.3 Navigation Menu ...........................................................................................................................19
2.4 Jogging..........................................................................................................................................19
2.5 Data Entry.....................................................................................................................................19
2.6 Running a Program........................................................................................................................19
3 T EACH B OX K EY A SSIGNMENTS ..........................................................................................20
4 P OINT T YPE & F UNCTION S UMMARY ...................................................................................24
4.1 Point Menu....................................................................................................................................24
4.2 Setup Menu....................................................................................................................................26
4.3 Menu 1..........................................................................................................................................28
4.4 Utility Menu...................................................................................................................................29
4.5 Menu 2..........................................................................................................................................30
SECTION 4: PROGRAMMING EXAMPLE.......................................................................31
1 P
ROGRAMMING E XAMPLE ...................................................................................................32
2 G
OOD P ROGRAMMING P RACTICES .......................................................................................35
3 E
DITINGA P ROGRAM ...........................................................................................................35
3.1 Changing a Point’s XYZ location ...................................................................................................36
3.2 Insert / Delete an Instruction..........................................................................................................36
4 C HANGING THE P ROGRAM N UMBER ....................................................................................36
5 C HANGING FROM T EACH M ODE TO R UN M ODE ...................................................................37
SECTION 5: POINT TYPE & FUNCTION REFERENCE ................................................38
1 P
OINT M ENU ......................................................................................................................39
1.1 Dispense Dot.................................................................................................................................39
1.2 Line Start.......................................................................................................................................39
1.3 Line Passing..................................................................................................................................40
1.4 Circle ............................................................................................................................................40
1.5 Arc Point.......................................................................................................................................40
1.6 Line End........................................................................................................................................41
1.7 End Program.................................................................................................................................41
1.8 Dispenser ON / OFF......................................................................................................................41
1.9 Goto Address.................................................................................................................................42
1.10 Step & Repeat X.............................................................................................................................42

I&J7000C Series Operating Manual
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
1.11 Step & Repeat Y.............................................................................................................................46
1.12 Brush Area ....................................................................................................................................47
1.12.1 Brush Area: Rectangle..........................................................................................................48
1.12.2 Brush Area: Circle................................................................................................................49
1.12.3 Brush Area: Rectangle_1 ......................................................................................................50
1.12.4 Brush Area: Rect Band .........................................................................................................51
1.12.5 Brush Area: Circle Band.......................................................................................................52
1.13 Call Subroutine..............................................................................................................................53
1.14 Call Program.................................................................................................................................54
1.15 Call Job.........................................................................................................................................54
1.16 Set I/O...........................................................................................................................................54
1.17 Wait Point......................................................................................................................................55
1.18 Stop Point......................................................................................................................................55
1.19 Home Point....................................................................................................................................55
1.20 Loop Address.................................................................................................................................55
1.21 Dummy Point.................................................................................................................................55
1.22 Initialize ........................................................................................................................................56
1.23 Label.............................................................................................................................................56
2 S ETUP M ENU ......................................................................................................................57
2.1 Line Speed.....................................................................................................................................57
2.2 Line Dispense Setup.......................................................................................................................57
2.3 Point Dispense Setup .....................................................................................................................59
2.4 Dispense End Setup........................................................................................................................59
2.5 Z Clearance...................................................................................................................................61
2.6 X/Y Move Speed.............................................................................................................................62
2.7 Z Move Speed................................................................................................................................62
2.8 Set Home Position..........................................................................................................................62
2.9 Retract Setup.................................................................................................................................63
2.10 Adjust Position...............................................................................................................................65
2.11 Quickstep.......................................................................................................................................67
2.12 Auto Purge Setup...........................................................................................................................67
2.13 ESTOP Output...............................................................................................................................67
2.14 Acceleration Setup.........................................................................................................................68
2.15 Pause Status..................................................................................................................................68
2.16 Dispense Off Distance....................................................................................................................68
3 M ENU 1..............................................................................................................................69
3.1 Group Edit.....................................................................................................................................69
3.1.1 Copy.........................................................................................................................................69
3.1.2 Delete .......................................................................................................................................70
3.1.3 Move ........................................................................................................................................71
3.1.4 Line SP (Line Speed).................................................................................................................72
3.1.5 Dispen.TM (Dispense Time)......................................................................................................73
3.1.6 Offset........................................................................................................................................74
3.2 Expand Step & Repeat ...................................................................................................................75
3.3 Program Name ..............................................................................................................................76
3.4 Z Axis Limit...................................................................................................................................76
3.5 Initial Output Status.......................................................................................................................77
3.6 Debug Speed..................................................................................................................................77
3.7 Jog Speed ......................................................................................................................................77
3.8 Utility Menu...................................................................................................................................78
3.9 Run Mode......................................................................................................................................78
3.10 Resume..........................................................................................................................................78
4 U
TILITY M ENU ...................................................................................................................79
4.1 Program........................................................................................................................................79
4.2 Memory.........................................................................................................................................79
4.3 Teach Pendant...............................................................................................................................79
4.4 Relocate Data................................................................................................................................80
4.5 Lock or Unlock Program................................................................................................................81
4.6 Password.......................................................................................................................................81
4.7 Cycle Counter................................................................................................................................82
5 M
ENU 2..............................................................................................................................83
5.1 Numerical Move ............................................................................................................................83
5.2 Save Temp Point............................................................................................................................83
5.3 Retrieve Temp Point.......................................................................................................................83
5.4 Undo Program...............................................................................................................................83
5.5 Redo Program ...............................................................................................................................83
5.6 Debug Program.............................................................................................................................83

I&J7000C Series Operating Manual
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Rev. F Dec. 06
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5.7 Home Position...............................................................................................................................84
5.8 System Information........................................................................................................................84
5.9 Execute Point.................................................................................................................................84
SECTION 6: SAMPLE PROGRAMS...................................................................................85
1 D OTS , L INES AND A RCS – S AMPLE P ROGRAM ......................................................................86
2 B
RUSH A REA – S AMPLE P ROGRAM ......................................................................................88
3 S TEP & R EPEAT – S AMPLE P ROGRAM .................................................................................89
4 I
NPUT / O UTPUT S IGNAL P ROCESSING – S AMPLE P ROGRAM .................................................91
SECTION 7: SPECIFICATIONS .........................................................................................93
1 E RROR M ESSAGES ..............................................................................................................94
1.1 Point Closed Error.........................................................................................................................94
1.2 Need Line Start Point.....................................................................................................................94
1.3 Need Step & Repeat.......................................................................................................................94
1.4 Unlock Program............................................................................................................................94
1.5 Address Over Memory....................................................................................................................95
1.6 Move Over Memory .......................................................................................................................95
1.7 System Error..................................................................................................................................95
2 I/O S PECIFICATIONS ............................................................................................................96
2.1 Ext. Control Connector:.................................................................................................................96
2.2 Output Signals...............................................................................................................................97
2.3 Input Signals..................................................................................................................................99
2.4 Input / Output Schematic................................................................................................................100
2.5 Input / Output Power Specifications...............................................................................................101
3 S YSTEM S PECIFICATIONS .....................................................................................................102
4 M ACHINE D IMENSIONS .......................................................................................................103
4.1 I&J7200C Dimensions...................................................................................................................103
4.2 I&J7300C Dimensions...................................................................................................................104
4.3 I&J7400C Dimensions...................................................................................................................105
5 W ORK T ABLE D IMENSIONS .................................................................................................106
5.1 I&J7200C......................................................................................................................................106
5.2 I&J7300C & I&J7400C.................................................................................................................106

I&J7000C Series Operating Manual
Section 1: Introduction
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
SECTION 1: Introduction

I&J7000C Series Operating Manual
Section 1: Introduction
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
1 Safety Precautions
1.1 In order to meet the requirements of the European Community (CE) safety
directives, the robot must be placed in an enclosure supplied by I&J Fisnar Inc.
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 I&J7000C robot should only be operated in an environmental 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.

I&J7000C Series Operating Manual
Section 1: Introduction
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
2 Package Contents
In addition to this operating manual, the following items should be included with the robot:
Main Unit
(I&J7200C, I&J7300C or I&J7400C) Enclosure (CE Units Only)
Dispenser Mounting Bracket
(For I&J7300C and I&J7400C only) Barrel Holder or Valve Holder
Teach Pendant Teach Pendant Cable
Start / Stop Box
(optional) Dispenser Cable
RS232 Cable and Null Modem Adapter I/O Port Connector
Power Cord Spare Screws and Hex Key
Your system may also include other optional accessories.
If any of the above items are missing, please contact the supplier.

I&J7000C Series Operating Manual
Section 1: Introduction
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
3 Connector and Switch Locations
3.1 Front View
3.2 Rear View
Keyboard PortRS232 PortTeach Pendant Connector
Control Panel
Dispenser Cable Connector External Control (Start Box) Connector
Input / Output Port Monitor Port
Power Switch
Power Outlet Power Inlet

I&J7000C Series Operating Manual
Section 1: Introduction
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
3.3 Control Panel

I&J7000C Series Operating Manual
Section 2: Setup
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
SECTION 2: Setup

I&J7000C Series Operating Manual
Section 2: Setup
Part # 561978C
Rev. F Dec. 06
- Page 11 -
© 2006 I&J Fisnar Inc.
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 or the robot’s shipping bracket as these items may
be needed if the robot is shipped or moved in the future.
2 Remove Shipping Bracket
All units are shipped from the factory with a shipping bracket installed. The shipping
bracket secures the worktable to the X/Z head to prevent movement and damage during
shipment.
Remove the shipping bracket by removing the four hex bolts, which secure it.
Keep the shipping bracket and screws in a safe place for future use.
REMOVE

I&J7000C Series Operating Manual
Section 2: Setup
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
3 Setup
The I&J7000C 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 barrel and a DSP501Adispenser
controller are described below.
3.1. If the system is being used in the European Community, the robot must be placed in
an enclosure supplied by I&J Fisnar Inc. 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. 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 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 must be mounted
on the X/Z head of the robot. The Barrel
Holder will hold a 30 cc or 55 cc barrel
on the robot’s head. An optional Valve
holder may be used as a replacement
for the barrel holder if the application so
requires.
3.3. Mount the barrel or valve holder on the X/Z axis head as shown, using two hex
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.
Barrel Holder

I&J7000C Series Operating Manual
Section 2: Setup
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
3.4. The dispenser, such as the DSP501A, is connected to the robot via the dispenser
interface cable. Connect the three-pin barrel connector of the dispenser interface
cable to the DISPENSER connector at the back of the robot.
Connect the small plastic connector at the other end of the dispenser interface cable
to the FOOT PEDAL connector at the back of the dispenser.
3.5. Connect the male end of the barrel adapter assembly provided with the DSP501A
dispenser to the air output connector on the front of the DSP501A.
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 X/Z head.
Detailed instructions for setting up the DSP501A dispenser can be found in the
manual provided with the DSP501A.
3.6. For normal operation, the orange TIMER / NO TIMER switch on the DSP501A
dispenser should be in the NO TIMER position (a picture of a clock with an X
through it is shown).
3.7. Connect one end of the Teach Pendant Cable to the Teach Pendant and the other
end to the Teach Pad connection on the front of the robot.
3.8. Connect the power cord of the DSP501A to the back of the dispenser. Be sure to
use the correct power cord and power source for the dispenser model you are using
(110 Volt or 220 Volt).
3.9. Connect the power cord of the I&J7000C robot to the power socket on the back of
the robot. Be sure to use the correct power cord and power source for the robot
model you are using (110 Volt or 220 Volt).
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 make sure that they can not become jammed as the
robot moves through the work area.

I&J7000C Series Operating Manual
Section 3: Teaching Overview
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
SECTION 3: Teaching Overview

I&J7000C Series Operating Manual
Section 3: Teaching Overview
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
1 Teaching Overview
Aprogram consists of a series of instructions stored in the main unit memory. Each
instruction is stored in a numbered memory address.A memory address may record a
point location, with an X, Y, and Z axis value and point type or it may store an instruction
which sets a parameter, such as a dispensing time or line speed.
When the program is executed, the robot will step through each memory address in
sequence and execute the instruction found there. If the memory address contains a point
location, the robot will move the X, Y, and Z axes to that location. Depending on the type of
point registered at that location, the robot may also perform other functions, such as turn
the dispenser on or off.
The most commonly used point types are Dispense Point, Line Start, Line Passing, Arc
Point, and Line End Point.
To program the robot to dispense a ‘dot’ of material, the dispensing tip must be jogged to
the desired XYZ location, then that location is registered as a DISPENSE POINT point type
by pressing the appropriate keys on the Teach Pendant.
To program the robot to dispense a bead of material along a linear path, the XYZ location
of the start of the line is registered as a LINE START point type. The locations where the
tip changes direction are registered as LINE PASSING points. The end of the line is
registered as a LINE END point:

I&J7000C Series Operating Manual
Section 3: Teaching Overview
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
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:
Lines and arcs can also be combined to dispense a bead of material along a complex path:
Once the required point locations for your program have been taught, the teach pendant is
no longer required. The unit can be switched to RUN mode and operated using the buttons
and switches on the main unit control panel.

I&J7000C Series Operating Manual
Section 3: Teaching Overview
Part # 561978C
Rev. F Dec. 06
- Page 17 -
© 2006 I&J Fisnar Inc.
2 Using the Teach Pendant
The teach pendant enables the user to jog robot to input program data.
2.1 Key Selection
There are several functions assigned to most keys on the Teach pendant. When a key is
pressed alone, the function shown in the white colored area on the key is executed. For
example, MENU 1, MENU 2, and Setup are the default key functions which are executed
when that key is pressed alone.
To access the function shown in the blue area at the top of a key, press and release the
Shift key first, then press the desired key. For example, to select the Speed function,
press and release Shift, then press the Speed key.
When a number is required, the teach pendant will automatically switch to numeric entry
mode. The number represented by each key is shown in the lower right corner of the key.
If Shift is pressed, released,
then the Menu1 key is
pressed, Point Setup
(• Setup) is executed.
If this key is pressed alone,
Setu
p
is executed.
When entering
numbers, this key
is 0.

I&J7000C Series Operating Manual
Section 3: Teaching Overview
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
2.2 Key Assignments
Menu Keys
Opens the Point registration menu.
Opens the Setup menu.
Opens Menu # 1.
Opens Menu # 2.
Jog Keys
Jogs the X axis in the (-) direction.
Jogs the X axis in the (+) direction.
Jogs the Y axis in the (-) direction.
Jogs the Y axis in the (+) direction.
Jogs the Z axis UP.
Jogs the Z axis DOWN.
Accelerates jog speed – used with X+, X-. Y+, Y-, Z Up, Z
Down
Navigation Display
Moves forward (1) memory address.
Moves back (1) memory address.
Moves forward (10) memory addresses.
Moves back (10) memory addresses.

I&J7000C Series Operating Manual
Section 3: Teaching Overview
Part # 561978C
Rev. F Dec. 06
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© 2006 I&J Fisnar Inc.
2.3 Navigation Menu
Pressing any of the keys shown on the right will open the
corresponding menu.
Once the menu is open, use the up and down arrows to
move through the items on the menu.
Use left and right arrows to change to the next page or
previous page.
Press ENTER to select the current item.
2.4 Jogging
The tip is jogged by pressing the jog buttons
If the FAST button is pressed and held first, then one of
the jog buttons is pressed, the axis will be jogged at the
maximum jog speed.
If one of the jog buttons is pressed first, then the FAST
button is pressed, the jog motion will accelerate.
If the FAST button is released, the axis will decelerate.
2.5 Data Entry
If a numeric value is required, the teach pendant will automatically switch to numeric mode.
Use the keys 0 – 9, (.) (,) and the minus sign (-) to enter numbers.
2.6 Running a Program
Press the key to run the program.