Loctite RB15 200D User manual

Operation Manual
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Gantry Robot
RB15 200D
Item No. 1670898
Gantry Robot
RB15 200D
Henke l AG & C o. KG aA
Stand ort Münch en
Guten bergstr. 3
D-857 48 Garchin g
Loct ite® R B 15 20 0D Ga ntry R obot, 24V
Item No . 167 0898
Serial No . 09GT AA-XXX
Year of Ma nufactur e:
Equipment
Operation Manual
LoctiteRB15 200D Gantry Robot
Part Number:1670898

Operation Manual
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Table of Contents
SECTION 1: INTRODUCTION....................................................................................5
1.1 Please Observe the Following.............................................................................................................6
1.1.1 Emphasized Sections............................................................................................................................6
1.1.2 For Your Safety....................................................................................................................................6
1.1.3 Safety Precaution.................................................................................................................................7
1.2 Package Contents ................................................................................................................................7
SECTION 2: SETUP....................................................................................................8
2.1 Unpacking the Robot ...........................................................................................................................9
2.2 Setup ....................................................................................................................................................9
2.3 Mount on Production Line...................................................................................................................10
SECTION 3: TOUR OF ROBOT..................................................................................11
3.1 Robot Overview ...................................................................................................................................12
SECTION 4: TOUR OF TEACH PENDANT................................................................13
4.1 Get Started...........................................................................................................................................14
4.2 Teach Pendant Overview.....................................................................................................................16
4.3 Operation.............................................................................................................................................16
4.4 Key Introduction..................................................................................................................................17
4.5 Navigation Menu .................................................................................................................................18
4.6 Jogging ................................................................................................................................................18
4.7 Data Entry ...........................................................................................................................................18
4.8 Running a Program .............................................................................................................................18
4.9 Teach Pendant Key Assignments.........................................................................................................19
SECTION 5: MENU INTRODUCTION.........................................................................22
5.1 F1 Menu...............................................................................................................................................23
5.2 F2 Menu...............................................................................................................................................26
5.2.1 Utility Menu.........................................................................................................................................27
5.3 F3 Menu...............................................................................................................................................28
5.4 F4 Menu...............................................................................................................................................29
SECTION 6: PROGRAMMING....................................................................................31
6.1 Programming Example........................................................................................................................32
6.2 Good Programming Practices.............................................................................................................36
6.3 Editing a Program...............................................................................................................................37
6.3.1 Changing a Point’s XYZ location........................................................................................................37
6.3.2 Insert / Delete an Instruction...............................................................................................................38
6.4 Changing the Program Number...........................................................................................................39
6.5 Changing from Teach Mode to Run Mode...........................................................................................39
SECTION 7: FUNCTION REFERENCE......................................................................40
7.1 F1 Menu (Enter or F1 Key).................................................................................................................41
7.1.1 Dispense Dot........................................................................................................................................41
7.1.2 Line Start .............................................................................................................................................41
7.1.3 Line Passing.........................................................................................................................................42
7.1.4 Circle ...................................................................................................................................................42
7.1.5 Arc Point..............................................................................................................................................43
7.1.6 Line End...............................................................................................................................................43
7.1.7 End Program .......................................................................................................................................43
7.1.8 Dispense ON / OFF .............................................................................................................................44
7.1.9 GOTO Address.....................................................................................................................................45
7.1.10 Step & Repeat X...................................................................................................................................45
7.1.11 Step & Repeat Y...................................................................................................................................50
7.1.12 Brush Area...........................................................................................................................................51
7.1.12.1 Brush Area: Rectangle.........................................................................................................................52
7.1.12.2 Brush Area: Circle...............................................................................................................................53
7.1.12.3 Brush Area: Rectangle 1......................................................................................................................54
7.1.12.4 Brush Area: Rect. Band.......................................................................................................................55
7.1.12.5 Brush Area: Circle Band .....................................................................................................................56

Operation Manual
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7.1.12.6 Brush Area: Circle 1............................................................................................................................57
7.1.12.7 Call Subroutine....................................................................................................................................58
7.1.13 Call Program.......................................................................................................................................59
7.1.14 Set I/O..................................................................................................................................................59
7.1.15 Wait Point............................................................................................................................................60
7.1.16 Stop Point ............................................................................................................................................60
7.1.17 Home Point..........................................................................................................................................60
7.1.18 Loop Address.......................................................................................................................................60
7.1.19 Dummy Point.......................................................................................................................................61
7.1.20 Initialize...............................................................................................................................................61
7.1.21 Label....................................................................................................................................................61
7.1.22 Display Counter...................................................................................................................................61
7.1.23 Loop Counter.......................................................................................................................................61
7.1.24 Needle Adjustment ...............................................................................................................................62
7.1.25 Needle Adjustment Counter .................................................................................................................62
7.1.26 Arc Dispense Setup..............................................................................................................................63
7.2 F2 Menu (F2 Key)................................................................................................................................64
7.2.1 Group Edit...........................................................................................................................................64
7.2.1.1 Copy.....................................................................................................................................................64
7.2.1.2 Delete...................................................................................................................................................65
7.2.1.3 Move ....................................................................................................................................................66
7.2.1.4 Line SP (Line Speed)............................................................................................................................67
7.2.1.5 Dispense Time......................................................................................................................................68
7.2.1.6 Offset....................................................................................................................................................69
7.2.1.7 Offset (R.E)..........................................................................................................................................70
7.2.2 Expand Step & Repeat.........................................................................................................................71
7.2.3 Program Name.....................................................................................................................................72
7.2.4 Z-axis Limit (mm) ................................................................................................................................72
7.2.5 Initial Output Port ...............................................................................................................................72
7.2.6 Utility Menu.........................................................................................................................................73
7.2.6.1 Program...............................................................................................................................................73
7.2.6.2 Memory................................................................................................................................................73
7.2.6.3 Teach Pendant.....................................................................................................................................74
7.2.6.4 Relocate Data ......................................................................................................................................74
7.2.6.5 Lock or Unlock Program.....................................................................................................................76
7.2.6.6 Password Setup....................................................................................................................................76
7.2.6.7 Key Beep..............................................................................................................................................76
7.2.6.8 Test Function.......................................................................................................................................76
7.2.6.9 Clear Teach Pendant Data ..................................................................................................................76
7.3 F3 Menu (F3 Key)................................................................................................................................77
7.3.1 Numerical Move...................................................................................................................................77
7.3.2 Save Temp Point..................................................................................................................................77
7.3.3 Move To Temp Point............................................................................................................................77
7.3.4 Undo Program.....................................................................................................................................77
7.3.5 Redo Program......................................................................................................................................77
7.3.6 Debug Program...................................................................................................................................78
7.3.7 Move To Home Position ......................................................................................................................78
7.3.8 System Information..............................................................................................................................78
7.3.9 Execute Point.......................................................................................................................................78
7.3.10 Program Name List..............................................................................................................................78
7.4 F4 Menu (F4 Key)................................................................................................................................79
7.4.1 Line Speed............................................................................................................................................79
7.4.2 Line Dispense Setup.............................................................................................................................79
7.4.3 Point Dispense Setup...........................................................................................................................80
7.4.4 Dispense End Setup .............................................................................................................................80
7.4.5 Z Clearance .........................................................................................................................................82
7.4.6 X/Y Move Speed...................................................................................................................................83
7.4.7 Z Move Speed.......................................................................................................................................83
7.4.8 Home Position Setup............................................................................................................................84
7.4.9 Adjust Position Setup...........................................................................................................................85
7.4.10 Retract Setup........................................................................................................................................87
7.4.11 Quickstep .............................................................................................................................................89
7.4.12 Auto Purge Setup.................................................................................................................................90
7.4.13 ESTOP Output Status...........................................................................................................................90
7.4.14 Acceleration.........................................................................................................................................91
7.4.15 Pause Status.........................................................................................................................................91
7.4.16 Language.............................................................................................................................................91
7.4.17 Jog Speed.............................................................................................................................................91
7.4.18 Debug Speed........................................................................................................................................91
7.4.19 Adjust Origin .......................................................................................................................................92
7.4.20 Quickstep Path.....................................................................................................................................92
7.4.21 USB Up/Down Load ............................................................................................................................92

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7.4.22 Circle Delay Time................................................................................................................................94
7.4.23 Initialize Setup.....................................................................................................................................94
7.4.24 Teach Needle Adjustment.....................................................................................................................95
7.4.25 Teach Needle Adjustment Setup...........................................................................................................96
SECTION 8: SAMPLE PROGRAMS...........................................................................98
8.1 Dots, Lines and Arcs............................................................................................................................99
8.2 Brush Area...........................................................................................................................................101
8.3 Step & Repeat ......................................................................................................................................102
8.4 Input / Output Signal Processing.........................................................................................................104
8.5 Needle Calibration...............................................................................................................................106
SECTION 9: SOFTWARE UPGRADE ........................................................................107
9.1 Check System Version..........................................................................................................................108
9.2 Upgrade Software................................................................................................................................108
SECTION 10: ERROR MESSAGES AND SPECIFICATIONS......................................109
10.1 Point Closed Error ..............................................................................................................................110
10.1.1 Need Line Start Point...........................................................................................................................110
10.1.2 Need Step & Repeat.............................................................................................................................110
10.1.3 Unlock Program ..................................................................................................................................110
10.1.4 Address Over Memory.........................................................................................................................111
10.1.5 Move Over Memory.............................................................................................................................111
10.1.6 System Error........................................................................................................................................111
10.1.7 Over Speed Error.................................................................................................................................111
10.2 I/O Specification..................................................................................................................................112
10.2.1 Dispenser Connector ...........................................................................................................................112
10.2.2 Ext. Control Connector........................................................................................................................112
10.2.3 Output Signals .....................................................................................................................................112
10.2.4 Input Signal..........................................................................................................................................114
10.2.5 Input/Output Schematic .......................................................................................................................115
10.2.6 Input/Output Power Specifications......................................................................................................115
10.3 System Specifications...........................................................................................................................116
10.4 Machine Dimensions............................................................................................................................117
SECTION 11: CONNECT TO CONVEYOR...................................................................118
11.1 Emphasized Sections............................................................................................................................119
11.2 Connect to Conveyor ...........................................................................................................................119
SECTION 12: MAINTENANCE ACCESSORIES & SPARE PARTS ............................121
12.1 Maintenance ........................................................................................................................................122
12.1.1 General Consideration ........................................................................................................................122
12.1.2 Check Cycles &Points .........................................................................................................................122
12.1.3 Check Methods.....................................................................................................................................123
12.2 Accessories & Spare Parts ..................................................................................................................124
SECTION 13: EQUIPMENT WARRANTY.....................................................................126
13.1 Equipment Warranty............................................................................................................................127

Operating Manual
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SECTION 1: Introduction

Operating Manual
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1.1Please Observe the Following
1.1.1 Emphasized Sections
WARNING!
Refers to safety regulations and required measures that protect the operator or other persons
from injury or danger to life.
Caution!
Emphasizes what must be done or avoided so that the unit or other property is not damaged.
Notice:
Gives recommendations for better handling of the unit during operation or adjustment, as
well as for service activities.
1.1.2 For Your Safety
For safe and successful operation of the unit, read these instructions completely. If the
instructions are not observed, the manufacturer can assume no responsibility. Be sure to
retain this manual for future reference.
WARNING!
Always wear temperature resistance gloves before touch the housing of dispensing head or
pre heater.
WARNING!
Never remove the cover of the unit without first switching the power off and unplugging the
power cord.
WARNING!
Damage to the power cord or the housing can result in contact with live electrical parts.
Check the power cord and housing before each use. If the power cord or unit is damaged, do
not operate.
The unit may be repaired only by a Loctite® authorized service technician.

Operating Manual
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1.1.3 Safety Precaution
In order to meet the requirements of the European Community (CE) safety
directives, the robot must be placed in an enclosure1 supplied by Henkel.
Make sure the robot is connected to a properly grounded power source before operating.
Keep away from any moving parts while the robot is running.
Loading and unloading of parts and material must only be done when the robot is at a
complete stop.
Changing of fixtures or tooling must be done with the power source disconnected.
The RB15 200D Gantry Robot should only be operated in an environment between 0 and 40
degrees Celsius with humidity of 20 to 95 percent and no visible condensation.
Do not store or setup the robot in an area where it is directly exposed to sunlight.
Do not operate the robot where electrical noise is present.
Only use a neutral chemical for cleaning the robot. Do not use alcohol, benzene or thinner as
it may damage the paint on the robot.
1.2Package Contents
In addition to this operating manual, the following items should be included with the robot.
1. Electrical Box
2. Robot
3. Dispense Cable (3 to 9 pin)
4. Teach Pendant Cable (9 pin to 9pin)
5. Syringe Holder
6. Shortage 7-pin
7. Power Cord
8. Screws for Syringe Holder
9. USB Memory Stick

Operating Manual
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SECTION 2: Setup

Operating Manual
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2.1Unpacking the Robot
Always lift the robot from its 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 before operating
If you can, do not discard the packing material as these items may be needed if the robot is shipped
or moved in the future.
2.2Setup
Remove the shipping bracket by removing the screws that secure it. Keep the shipping
bracket and screws in a safe place for future use.
Connect one end of the Teach Pendant cable to the Teach Pendant and the other end to the
Teach Pendant connection on the robot.
Connect the power cord of the robot to the power socket on the robot. Be sure to use the
correct power cord and power source for the robot model you are using (220 V).
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 the robot’s table and make sure that they can not become jammed as the
robot moves through the work area.

Operating Manual
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2.3Mount on Production Line