Loctite EQ RB21 User manual

EQ RB21 SOFTWARE
USER GUIDE
Version RB1.00-2

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Table of Contents
SECTION 1: INTRODUCTION....................................................................................5
1.1 Introduction .........................................................................................................................................6
1.2 Safety ...................................................................................................................................................6
1.3 Get Started...........................................................................................................................................7
SECTION 2: TOUR OF TEACH PENDANT................................................................9
2.1 Teach Pendant Overview.....................................................................................................................10
2.2 Operation.............................................................................................................................................10
2.3 Key Introduction..................................................................................................................................11
2.4 Navigation Menu .................................................................................................................................12
2.5 Jogging ................................................................................................................................................12
2.6 Data Entry ...........................................................................................................................................12
2.7 Running a Program .............................................................................................................................12
2.8 Teach Pendant Key Assignments.........................................................................................................13
SECTION 3: MENU INTRODUCTION.........................................................................16
3.1 F1 Menu...............................................................................................................................................17
3.2 F2 Menu...............................................................................................................................................20
3.2.1 Utility Menu.........................................................................................................................................21
3.3 F3 Menu...............................................................................................................................................22
3.4 F4 Menu...............................................................................................................................................23
SECTION 4: PROGRAMMING....................................................................................25
4.1 Programming Example........................................................................................................................26
4.2 Good Programming Practices.............................................................................................................29
4.3 Editing a Program...............................................................................................................................30
4.3.1 Changing a Point’s XYZ location........................................................................................................30
4.3.2 Insert / Delete an Instruction...............................................................................................................31
4.4 Changing the Program Number...........................................................................................................32
4.5 Changing from Teach Mode to Run Mode...........................................................................................32
SECTION 5: FUNCTION REFERENCE......................................................................33
5.1 F1 Menu (Enter or F1 Key).................................................................................................................34
5.1.1 Dispense Dot........................................................................................................................................34
5.1.2 Line Start .............................................................................................................................................34
5.1.3 Line Passing.........................................................................................................................................35
5.1.4 Circle...................................................................................................................................................35
5.1.5 Arc Point..............................................................................................................................................36
5.1.6 Line End...............................................................................................................................................36
5.1.7 End Program .......................................................................................................................................36
5.1.8 Dispense ON / OFF.............................................................................................................................37
5.1.9 GOTO Address.....................................................................................................................................38
5.1.10 Step & Repeat X...................................................................................................................................38
5.1.11 Step & Repeat Y...................................................................................................................................43
5.1.12 Brush Area...........................................................................................................................................44
5.1.12.1 Brush Area: Rectangle.........................................................................................................................45
5.1.12.2 Brush Area: Circle...............................................................................................................................46
5.1.12.3 Brush Area: Rectangle 1......................................................................................................................47
5.1.12.4 Brush Area: Rect. Band.......................................................................................................................48
5.1.12.5 Brush Area: Circle Band .....................................................................................................................49
5.1.12.6 Brush Area: Circle 1............................................................................................................................50
5.1.12.7 Call Subroutine....................................................................................................................................51
5.1.13 Call Program.......................................................................................................................................52
5.1.14 Set I/O..................................................................................................................................................52
5.1.15 Wait Point............................................................................................................................................53
5.1.16 Stop Point ............................................................................................................................................53
5.1.17 Home Point..........................................................................................................................................53
5.1.18 Loop Address.......................................................................................................................................53
5.1.19 Dummy Point.......................................................................................................................................54
5.1.20 Initialize...............................................................................................................................................54
5.1.21 Label....................................................................................................................................................54
5.1.22 Display Counter...................................................................................................................................54
5.1.23 Loop Counter.......................................................................................................................................54
5.1.24 Needle Adjustment...............................................................................................................................55
5.1.25 Needle Adjustment Counter .................................................................................................................55

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5.1.26 Set GPIO..............................................................................................................................................55
5.1.27 Arc Dispense Setup..............................................................................................................................56
5.1.28 Tip Clean .............................................................................................................................................57
5.2 F2 Menu (F2 Key) ...............................................................................................................................57
5.2.1 Group Edit...........................................................................................................................................57
5.2.1.1 Copy.....................................................................................................................................................57
5.2.1.2 Delete...................................................................................................................................................58
5.2.1.3 Move ....................................................................................................................................................59
5.2.1.4 Line SP (Line Speed)............................................................................................................................60
5.2.1.5 Dispense Time......................................................................................................................................61
5.2.1.6 Offset....................................................................................................................................................62
5.2.1.7 Offset (R.E)..........................................................................................................................................63
5.2.2 Expand Step & Repeat.........................................................................................................................64
5.2.3 Program Name.....................................................................................................................................65
5.2.4 Z-axis Limit (mm) ................................................................................................................................65
5.2.5 Initial Output Port ...............................................................................................................................65
5.2.6 Utility Menu.........................................................................................................................................66
5.2.6.1 Program...............................................................................................................................................66
5.2.6.2 Memory................................................................................................................................................66
5.2.6.3 Teach Pendant.....................................................................................................................................67
5.2.6.4 Relocate Data ......................................................................................................................................67
5.2.6.5 Lock or Unlock Program.....................................................................................................................69
5.2.6.6 Password Setup....................................................................................................................................69
5.2.6.7 Key Beep..............................................................................................................................................69
5.2.6.8 Test Function.......................................................................................................................................69
5.3 F3 Menu (F3 Key) ...............................................................................................................................70
5.3.1 Numerical Move...................................................................................................................................70
5.3.2 Save Temp Point..................................................................................................................................70
5.3.3 Move To Temp Point............................................................................................................................70
5.3.4 Undo Program.....................................................................................................................................70
5.3.5 Redo Program......................................................................................................................................70
5.3.6 Debug Program...................................................................................................................................71
5.3.7 Move To Home Position ......................................................................................................................71
5.3.8 System Information..............................................................................................................................71
5.3.9 Execute Point.......................................................................................................................................71
5.3.10 Program Name List..............................................................................................................................71
5.4 F4 Menu (F4 Key) ...............................................................................................................................72
5.4.1 Line Speed............................................................................................................................................72
5.4.2 Line Dispense Setup.............................................................................................................................72
5.4.3 Point Dispense Setup...........................................................................................................................73
5.4.4 Dispense End Setup .............................................................................................................................73
5.4.5 Z Clearance .........................................................................................................................................75
5.4.6 X/Y Move Speed...................................................................................................................................76
5.4.7 Z Move Speed.......................................................................................................................................76
5.4.8 Home Position Setup............................................................................................................................77
5.4.9 Adjust Position Setup...........................................................................................................................78
5.4.10 Retract Setup........................................................................................................................................80
5.4.11 Quickstep .............................................................................................................................................82
5.4.12 Purge & Tip Clean Setup.....................................................................................................................83
5.4.13 ESTOP Output Status...........................................................................................................................84
5.4.14 Acceleration.........................................................................................................................................85
5.4.15 Pause Status.........................................................................................................................................85
5.4.16 Language.............................................................................................................................................85
5.4.17 Jog Speed.............................................................................................................................................85
5.4.18 Debug Speed........................................................................................................................................85
5.4.19 Adjust Origin .......................................................................................................................................86
5.4.20 Quickstep Path.....................................................................................................................................86
5.4.21 USB Up/Down Load ............................................................................................................................86
5.4.22 Circle Delay Time................................................................................................................................88
5.4.23 Initialize Setup.....................................................................................................................................88
5.4.24 Teach Needle Adjustment.....................................................................................................................89
5.4.25 Teach Needle Adjustment Setup...........................................................................................................90
5.4.26 Double Table Run Mode......................................................................................................................90
5.4.27 Low Level Sensor Setup.......................................................................................................................91

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SECTION 6: SAMPLE PROGRAMS...........................................................................92
6.1 Dots, Lines and Arcs............................................................................................................................93
6.2 Brush Area...........................................................................................................................................95
6.3 Step & Repeat ......................................................................................................................................96
6.4 Input / Output Signal Processing.........................................................................................................98
6.5 Needle Calibration...............................................................................................................................100
6.6 Program with Dual Table....................................................................................................................101
SECTION 7: SOFTWARE UPGRADE ........................................................................102
7.1 Upgrade Software................................................................................................................................103
SECTION 8: ERROR MESSAGES .............................................................................104
8.1 Point Closed Error ..............................................................................................................................105
8.1.1 Need Line Start Point...........................................................................................................................105
8.1.2 Need Step & Repeat.............................................................................................................................105
8.1.3 Unlock Program ..................................................................................................................................105
8.1.4 Address Over Memory.........................................................................................................................106
8.1.5 Move Over Memory.............................................................................................................................106
8.1.6 System Error........................................................................................................................................106
8.1.7 Over Speed Error.................................................................................................................................106
SECTION 9: EQUIPMENT WARRANTY.....................................................................107
9.1 Equipment Warranty............................................................................................................................108

SECTION 1: Introduction

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1.1 Introduction
Welcome to the Henkel RB21 System Software User Guide, this manual is an instructional
guide designed for system operators, programmers, and process engineers. It provides a
complete tour of the Robot control software with detailed explanations of all features.
In most cases, the software should arrive already installed and configured for your robot. If
you should need to reinstall the software or upgrade to latest version, Please refer to
Section 7 – Software Upgrade.
1.2 Safety
Please review the Section 2 Safety in RB21 Installation, Operations & Maintenance
manual before attempting to operate the robot system using procedures described in this
manual.

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1.3 Get Started
A program consists of a series of instructions stored in the main memory unit. Each
instruction is stored in a numbered memory address. A memory address may record a
point location with an X, Y, and Z-axis value and point type or it may store an instruction,
which sets a parameter, such as a dispensing time or line speed.
When the program is executed, the robot will go 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 Dot, Line Start, Line Passing, Arc
Point, and Line End.
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 DOT 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:
The LINE START has already included DISPENSE ON function and the LINE END has
already included DISPENSE OFF function.
Line Start Line End
Line
Passing Line Passing
Dispense Dot

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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: You cannot have 2 consecutive arc points in a program
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.
Line End
Line Start Line End
Arc Point
Line Start
Arc Point
Arc Point
Line Passing
Line Passing

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SECTION 2: Tour of Teach Pendant

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2.1 Teach Pendant Overview
The teach pendant enables the user to jog robot to input program data.
2.2 Operation
There are several functions assigned to most keys on the Teach pendant. When a key is
pressed alone, the function shown in the dark grey colored area on the key is executed.
For example, Ins, Del, Jump, Clear and Esc are the default key functions, which are
executed when that key is pressed alone.
To access the function shown in the light grey area at the top of a key, press and release
the Shift key first (the LED on the Shift key will be flashing), 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.

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2.3 Key Introduction
Menu Keys
Opens the Point registration menu
Select the options shown on the display
Opens F2 Menu
Select the options shown on the display
Opens F3 Menu
Select the options shown on the display
Opens the F4 Setup menu
Select the options shown on the display
Jog Keys
Jogs the X-axis in the left direction.
Jogs the X-axis in the right direction.
Jogs the Y-axis in the backward direction.
Jogs the Y-axis in the forward 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 backward (1) memory address.

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2.4 Navigation Menu
Once the menu is open, use the up and down arrows to move through the
items on the menu.
Use left and right arrows to change to the next page or previous page of
the menu.
Press ENTER to select the current item.
2.5 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 jog motion will
decelerate.
2.6 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.
2.7 Running a Program
Press the key to run the program.

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2.8 Teach Pendant Key Assignments
Key Function
Opens the F1 Point registration menu
Used to select options shown on the display.
The use of this key depends on the current menu displayed.
Opens the F2 Menu
Used to select options shown on the display.
The use of this key depends on the current menu displayed.
Opens the F3 Menu
Used to select options shown on the display.
The use of this key depends on the current menu displayed.
Opens the F4 Setup Menu
Used to select options shown on the display.
The use of this key depends on the current menu displayed.
Jogs the Z-axis UP.
Jogs the Z-axis DOWN.
Jogs the Y-axis in the forward direction.
Jogs the Y-axis in the backward direction.
Jogs the X-axis in the left direction.
Jogs the X-axis in the right direction.
Accelerates the jog speed when used with X+, X-. Y+, Y-, Z
Up, Z Down.
If Shift is pressed and released, then another key is
pressed, the secondary function of that key (shown in light
grey) will be executed.
Inserts a memory address before the current address.
Deletes the current memory address.
Clears / erases the numeric value currently shown in the
display.

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Key Function
If pressed once, clears the current numeric value.
If pressed twice, cancels the current function.
If a program is running, cancels the running program.
Changes from Point List display mode to Single Point
display when teaching point data.
Changes the display to memory address number 1.
Changes the display to the last memory address used in
the program.
Moves back (1) memory address.
After opening a menu, use this key to move Up inside the
menu.
Moves forward (1) memory address.
After opening a menu, use this key to move Down inside
the menu.
Jumps to a specified memory address
Moves the tip to the point location currently in the display.
Adjusts the tips position after a barrel change
Runs the program.
(Enter)–used to confirm data entries.
Opens the Point registration menu.
Homes the robot. Initializes all axes and moves the head to
the position (0, 0, 0).
+Registers a DISPENSE DOT point.
+Registers a LINE START point.

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Key Function
+Registers a LINE PASSING point.
+Registers a LINE END point.
+Registers an ARC POINT.
+Registers a Point Dispense Setup command.
+Registers a Line Dispense Setup command.
+Registers a Line Speed command.
+Registers the End Program command.
+ Registers a Z Clearance command.
+Set the dispenser “Off”
+Set the dispenser “On”
+
Dry Run Program.
Note: Only work on RB21. In RB22, you will need to turn off
<PUMP STATUS ALARM> via press +in
TEACH mode.
The use of this key depends on the current menu displayed.
The use of this key depends on the current menu displayed.

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SECTION 3: MENU Introduction

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3.1 F1 Menu
Below is a list of Point Types, which are found under the Enter or F1 key (F1 Menu):
Function Description
Dispense Dot Registers the current XYZ location as a Dispense point for
dot dispensing.
Line Start Registers the current XYZ location as a Line Start point for
line dispensing.
This function is also included DISPENSE ON function
Line Passing Registers the current XYZ location as a Line Passing point.
This is a location on the line where the tip changes direction,
such as at the corner on a rectangle.
Circle Registers a circle with the circle center at the current XYZ
location. The display will prompt the user for the circle
diameter.
Arc Point Registers the current XYZ location as an Arc point. Arc
points are used to dispense material in an arc or circle.
Line End Registers the current XYZ location as a Line End point.
This function also included DISPENSE OFF function
End Program Registers the current memory address as the end of the
program.
Dispense On / Off Registers an instruction which turns the dispenser on or off
at the current XYZ location.
GOTO Address Causes the program to jump to the specified memory
address.
Step & Repeat
Registers an instruction that will re-run a selected group of
memory addresses, stepping by a user-defined distance in
the X or Y-axis after each copy. The matrix of parts is defined
by specifying the number of rows, the number of columns,
the X offset and the Y offset.
Step & Repeat Xindicates that the robot will give priority to
the X-axis, running the parts along the X-axis first.
Step & Repeat Yindicates that the robot will give priority to
the Y-axis, running the parts along the Y-axis first.

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Function Description
Brush Area Causes the tip to ‘paint’ the defined area. The painted area
can be in the form of a rectangle or a circle / spiral.
Call Subroutine
Causes the machine to jump to a specified memory address
and execute the instructions found there. When the end
program instruction is reached, program execution will
continue at address just after the call Subroutine instruction.
Call Program Jumps to the specified program number from within the
current program.
Set I/O Registers an instruction, which either sets the value of an
output signal or checks the status of an input signal.
Wait Point After executing the current point (Line start, passing, etc) the
robot will wait a specified amount of time before moving to
the next command.
Stop Point After executing the current point (Line start, passing, etc),
the robot will wait until the start button is pressed before
moving to the next command.
Home Point Registers an instruction to ‘home’ all axes, sending them to
the home position. See the F4 Menu for instructions on
changing the location of the home position.
Loop Address Causes the program to execute a group of memory
addresses a user-specified number of times.
Dummy Point Registers the current XYZ location as a Dummy point. The
tip will simply pass through this point. Useful for avoiding
obstacles on the work piece.
Initialize Registers an Initialize point. Causes the robot to perform a
mechanical initialization.
Label
Registers a label that can be used as a reference when
programming bead on working table, it also used with the
GOTO address, Loop address, Set I/O, Step & repeat X,
Step & repeat Y and Call Subroutine commands.
Display Counter Shows a counter at the bottom of the teach pendant screen
while a program is running.
Loop Counter To setup the “Loop Counter” to “Keep” or “Clear”

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Line End 1
Registers the current memory address as the end of the
“Stadium” path setting:
Dispense Output
Setup
Register the assigned output port (0 – 8) ON or OFF
controlled by LINE START and LINE END (same as dispenser
port)
Needle Adjustment Register the “Needle Adjustment” command in the first
address. System will perform Needle calibration automatically
before Dispensing.
Needle Adjustment
Counter Set up needle adjustment counter numbers. While the number
reached, system performs needle calibration.
Arc Dispense Setup
Set up valve on time for arc dispensing. Similar the Tail Length
fictional but it is controlled by times.
Arc Dispense time can control valve pre-shut off during arc
dispensing. i.e. If dispense time for a complete arc need 5 sec,
and set 4 sec in arc dispense time, than valve will pre-shut off
1 sec before are end point.
Set GPIO Registers an instruction, which either sets the value of a GPIO
signal.
Arc Start
Arc End
Arc Dispense
Line Start Line Passing
Line End 1
12
3

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Tip Clean Perform tip clean.
3.2 F2 Menu
Below is a list of functions, which are found under the F2 key (F2 Menu):
Function Description
Group Edit
Allows a function to be applied to a user-defined group
of memory addresses. Functions include copy, delete,
move, multiply line speed, multiply dispense times,
apply X Offset, apply Y Offset, apply Z Offset
Expand Step & Repeat
Expands the memory address locations which would
be performed at a Step & Repeat instruction so
individual memory addresses of the repeated
instructions can be edited
Program Name Allows the user to register a name for the current
program number
Z-axis Limit (mm) Sets the MAXIMUM Z-axis value (the lowest tip
position). Once the Z-axis limit is set, the robot will
prevent the tip from jogging below the set location.
Initial Output Port Sets the status of the output signals when the machine
is initialized
Utility Menu Opens the Utility Menu. See 3.2.1 Utility Menu