Nordson EFD PICO Controller 2+2 CH-V2 Series User manual

The PICO controller is a programmable device used
for the automatic control of dispensing processes
involving small amounts of variously viscous fluid
media.
Please read this operating manual thoroughly prior to
the initial operation of this dispensing system.
PICO Controller 2+2-XCH-V2
Operating Manual
™
Electronic pdf files of Nordson EFD
manuals are also available at
www.nordsonefd.com

You have selected a reliable, high-quality dispensing system from Nordson EFD, the world leader in fluid
dispensing. The PICO®controller was designed specifically for industrial dispensing and will provide you
with years of trouble-free, productive service.
This manual will help you maximize the usefulness of your PICO controller.
Please spend a few minutes to become familiar with the controls and features. Follow our recommended
testing procedures. Review the helpful information we have included, which is based on more than
50years of industrial dispensing experience.
Most questions you will have are answered in this manual. However, if you need assistance, please do
not hesitate to contact EFD or your authorized EFD distributor. Detailed contact information is provided
on the last page of this document.
The Nordson EFD Pledge
Thank You!
You have just purchased the world’s finest precision dispensing equipment.
I want you to know that all of us at Nordson EFD value your business and will do everything in our power
to make you a satisfied customer.
If at any time you are not fully satisfied with our equipment or the support provided by your Nordson
EFD Product Application Specialist, please contact me personally at 800.556.3484 (US), 401.431.7000
(outside US), or [email protected].
I guarantee that we will resolve any problems to your satisfaction.
Thanks again for choosing Nordson EFD.
Srini Subramanian, General Manager
Srini Subramanian
PICO Controller 2+2-XCH-V2
2www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Contents
Contents..........................................................................................................................................................................3
Introduction .....................................................................................................................................................................4
Product Description.....................................................................................................................................................4
Intended Use ...............................................................................................................................................................4
Applicability of this Manual..........................................................................................................................................4
Nordson EFD Product Safety Statement ........................................................................................................................5
Specifications..................................................................................................................................................................6
Standards........................................................................................................................................................................7
Operating Features..........................................................................................................................................................8
Front Panel Components.............................................................................................................................................8
Back Panel Components .............................................................................................................................................9
Installation .....................................................................................................................................................................10
Unpack and Inspect...................................................................................................................................................10
Make the System Connections..................................................................................................................................10
Connector Pin Assignments and Signal Levels.........................................................................................................11
Power Supply Socket Pins.....................................................................................................................................11
CAN Interface D-Subconnector Pins .....................................................................................................................11
Channels 1–4 D-Subconnector Pins......................................................................................................................11
Installation Example...................................................................................................................................................13
Setup .............................................................................................................................................................................14
Design and Interfaces................................................................................................................................................14
Signal Level Sources .................................................................................................................................................15
Device-Internal Potential ........................................................................................................................................16
External Potential ...................................................................................................................................................16
Output Impulses ........................................................................................................................................................17
Data Communication via CAN Bus............................................................................................................................19
The CAN Data Telegram ........................................................................................................................................20
Structure of the Identifier, Data Field, and CAN Commands.................................................................................21
Example of a CAN Telegram..................................................................................................................................24
PICO Controller Menu Structure................................................................................................................................25
PICO Controller Operating Controls ..........................................................................................................................26
Parameters and Value Ranges ..................................................................................................................................27
PICO Controller Menu Schematic .............................................................................................................................29
Control Programs ......................................................................................................................................................33
Program Cycles, Program Files, and Factory Settings ..........................................................................................33
Characteristics of a Control Program ....................................................................................................................36
Program Examples.................................................................................................................................................37
Operation.......................................................................................................................................................................40
Checklist for Initial Operation ....................................................................................................................................40
Purging a Valve..........................................................................................................................................................41
Changing a Container................................................................................................................................................41
EMERGENCY OFF Functionality ...............................................................................................................................43
Service...........................................................................................................................................................................44
Maintenance ..............................................................................................................................................................44
Cleaning.....................................................................................................................................................................44
Replacing the Battery ................................................................................................................................................45
Part Numbers ................................................................................................................................................................45
Replacement Parts........................................................................................................................................................45
Troubleshooting ............................................................................................................................................................46
Technical Data...............................................................................................................................................................48
Circuit Diagram (Device-Internal Potential)................................................................................................................48
Circuit Diagram (External Potential)...........................................................................................................................49
PICO Controller Dimensions......................................................................................................................................50
PICO Controller 2+2-XCH-V2
3www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Introduction
Product Description
The PICO controller 2+2-2CH-V2 (two-channel) or 2+2-4CH-V2 (four-channel) is an electronic device used for the
timed control of the PICO Toµch controller. The PICO controller transmits electrionic signals in the form of pulse-
pause lines and pulse-pause blocks at a constant signal level for a variable (programmable) duration. These pulse
sequences directly affect the downstream devices.
The output pulse sequences consist of interlinked pre-programmed pulse-pause lines.
Variable parameters such as dispensing time, cycle duration, delay time, and number of pulses are entered via an
SD card. Data is stored on the SD card using an external PC.
Operating parameters can be changed locally at the PICO controller (within the limits specified in the PICO controller
program) by using the Menu dial and integral Enter key and the ESC (Escape) key, which are located on the front of
the PICO controller.
The PICO controller has a feature that calculates the fluid left in the container. Each dispensed amount is subtracted
from the original quantity of material in the container. When a customer-specified low-level limit is reached, a
message appears on the PICO controller display and a status signal is transmitted to a primary control device, such
as a programmable logic controller (PLC).
The controller is designed as a plug-in cassette for a 48.3-cm (19-in.) chassis. Pulse-pause signals are emitted via
two (optionally four) channels that work independently of one another. The control process (the beginning of the
control impulse output) performed by the PICO controller can be triggered by channel (for example, by the PLC, via
10 binary single signals, via CAN bus, or manually).
When the EMERGENCY OFF is actuated for a channel, the current dispensing pulse is either ended or stopped,
depending on the value set for the Stop parameter. Then, the transmission of additional control signals is
interrupted.
Intended Use
The electrical devices and machines described in this manual are intended for use in industrial systems.
The PICO controller is designed for operation via direct current of 24 VDC.
To ensure that the equipment functions properly, has a long service life, and complies with the intended use, the
operating conditions and instructions specified in this manual must be observed.
Applicability of this Manual
This operating manual applies only to the PICO controller 2+2-XCH-V2 (hereinafter only referred to as the PICO
controller) as of
• Hardware release 2.0 and software release 2.0
The current software and hardware versions are shown under the PICO controller’s System Data menu option.
PICO Controller 2+2-XCH-V2
4www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Nordson EFD Product Safety Statement
Only qualified and trained personnel may work with the unit.
CAUTION
NOTE: Qualified personnel are persons who, due to their training, experience and instruction, as well as their
knowledge of relevant standards, provisions, accident prevention regulations and operating conditions, have been
authorized by the person responsible for the safety of the system to perform the required tasks and, in the process,
can identify and prevent potential risks (definitions for specialists according to VDE 105 or ICE364).
Equipment must be unplugged from voltage before any maintenance or repair work is performed. This applies
particularly to connecting and disconnecting cables to the PICO controller for maintenance and repair, or to prepare
for and perform maintenance and repair.
General engineering rules apply for the planning of use of the equipment.
The device should be installed such that the electrical interfaces are easily accessible and the operating and display
elements clearly visible.
The PICO controller has been designed with state-of-the-art technology and is reliable and safe to operate. Incorrect
handling by insufficiently qualified personnel can be hazardous. It is imperative that operating personnel be properly
trained.
CAUTION
To ensure safety, repairs and hardware changes to the unit may be made only by the manufacturer.
CAUTION
The PICO controller may be used only to control the PICO Toµch controller or an approved 24 V valve from Nordson
EFD. The operating conditions and parameters specified by the manufacturer and included in this manual should be
complied with.
Failure to comply with the safety instructions can result in a limitation or complete loss of liability on the part of the
manufacturer. This also applies to equipment and accessories that have been acquired from another party.
PICO Controller 2+2-XCH-V2
5www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Specifications
Enclosure
Material Plug-in cassette for 19-in. chassis; aluminum, anodized black
Dimensions (W x H x D) 142 x 129 x 171 mm (3HE, 28 TE)
Weight Approx. 1.5 kg (3.3 lb)
Operating temperature +5 to +50 °C
Storage temperature -20 to 70 °C
Relative humidity—operation Maximum 80%
Relative humidity—storage Maximum 90%
Degree of protection IP20
Operating position Display in the front, sockets easily accessible
Electrical Data
Voltage supply 24 VDC ±10%
Power consumption 2-channel PICO controller: maximum 1.7 W (without load)
4-channel PICO controller: maximum 2.5 W (without load)
Electrical Connections
Voltage supply 4-pin male connector on the back panel
Inputs / outputs per channel 25-pin D-subconnector for each channel
CAN interface 9-pin D-subconnector, option for communicating with primary control device
Update interface 8-pin receptacle for software update
Operation
Nominal operating mode Continuous operation
Operation Operating menu in three languages (German, English, and French)
Manual input of parameters Via one dial and two operating keys
Display Graphic display, blue / white, 128 x 64 pixels
Data storage Non-volatile storage (EEPROM and flash storage); SD card
Signals
Pulse height Approx. 24 VDC
Time ranges Individually assigned by line and channel
Dispensing time Pulse duration: 0 ms; 0.05 to 9999.99 ms ±5 µs per pulse (increments of 10 µs)
Cycle duration: 0.05 ms; 0.17 to 9999.99 ms ±5 µs per cycle (increments of 10 µs)
Delay time: 0 to 9.999 s between 2 linked lines; increments of 1 ms
Number of channels 2 (optionally 4) output channels, independent of one another
Status display 1 green LED per channel
Input Signals / Channels
1 analog input 0–10 V; for variable pause times (times between 0 and delay time; delay time = 0.12 to 9999.99 ms)
10 binary input signals To activate one pulse-pause line (or block) each
Stop / emergency off Immediate cancellation of current dispensing sequence
Temp. dispensing fluid Alarm when temperature limit for dispensing fluid is exceeded (signal from PICO Toµch controller to
primary control unit)
Dispensing sequence fault Alarm when temperature limit for dispensing fluid is exceeded (signal from PICO Toµch controller to
primary control unit)
Input impedances Per analog input: Ri > 300 kOhm
Per binary input: Ri > 5.3 kOhm
Logic levels of binary inputs L = 0–5 V
H = 12–30 V
PICO Controller 2+2-XCH-V2
6www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Specifications (continued)
Output Signals / Channels
Pulse-pause outputs Electrical 24 V impulses to control dispensing sequences
System ready 0 V = not ready, 24 V = ready
End of pulse sequence 24 V pulse, duration 100 ms
Temp. dispensing fluid 24 V = normal, 0 V = temperature exceeded
Dispensing sequence fault 24 V = normal, 0 V = dispensing sequence fault (limit reached upon level check or faulty / missing
PICO Toµch controller)
Analog output Temperature (0–5 V or 0–10 V can be configured) setpoint for the fluid
Output load Per pulse output: max. 2 W (80 mA)
Per analog output: max. 10 mA
Per other output: max. 0.5 W (20 mA)
Standards
• The PICO controller is intended to be operated with 24 VDC and complies with the EMC guideline 2004/108/EG.
• The unit has the CE mark of conformity.
• The unit was inspected pursuant to the environmental testing method IEC 68.
PICO Controller 2+2-XCH-V2
7www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Operating Features
Front Panel Components
[Dimensions W x H = approx. 142 x 129 mm (5.6 x 5.0 in.)]
SD card slot Status LEDs
(green) for
Channels 1–4
ESC
(Escape) key Menu dial with
integral Enter key
POWER switch /
supply voltage
| = ON
0 = OFF
Four outer M3 hexagon
screws for mounting the
front plate to the housing
Display
Four captive screws
for mounting the PICO
controller on an electrical
cabinet
PICO Controller 2+2-XCH-V2
8www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Connection Comment
Power supply 4-pin socket (Binder, series 680) for power supply cable
Channels 1 to 4 One 25-pin D-subconnector per channel to connect the signals needed to control dispensing.
Channels 1 and 2 are standard; Channels 3 and 4 can be added if desired; the ducts for Channels 3
and 4 are ready and are covered with a label.
CAN bus 9-pin D-subconnector for optional connection of a higher-ranking control unit with CAN bus
communication
Update interface 8-pin socket (Binder, series 581) for Nordson EFD use only
Back Panel Components
[Dimensions W x H = approx. 138 x 106 mm (5.4 x 4.2 in.)]
Rating
plate Connector
(Nordson EFD
use only)
Socket for power
supply cable
Refer to “Connector Pin
Assignments and Signal
Levels” on page 11 for
detailed information.
D-subconnectors for
Channels 3 and 4 (if
present)
D-subconnector for
CAN bus cable
Refer to “Connector Pin
Assignments and Signal
Levels” on page 11 for
detailed information.
D-subconnectors for
Channels 1 and 2
Refer to “Connector Pin
Assignments and Signal
Levels” on page 11 for
detailed information.
PICO Controller 2+2-XCH-V2
9www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Installation
Unpack and Inspect
After unpacking the equipment, check that the scope of delivery is complete and that your operating conditions
comply with the information on the rating plate. The scope of delivery includes:
• One PICO 2+2-XCH-V2 controller
• One SD memory card and a read / write device for a USB interface
• One 2 m PICO controller power supply cable (P/N 7027455)
• One “PICO Controller 2+2-XCH-V2 Operating Manual” on CD-ROM
Make the System Connections
Prior to conducting work on the system, ensure that running processes will not be interrupted. If necessary, turn off
the system. Only qualified and trained personnel may perform work on the system.
CAUTION
1. Turn off devices / systems / processes to avoid interrupting running processes.
2. Refer to the PICO Toµch controller operating manual to connect the valve(s) to the Toµch controller.
3. Create a hardwire connection between the PICO controller and the Toµch controller (Y-connection cable, P/Ns
7028222 and 7012975). Refer to “Connector Pin Assignments and Signal Levels” on page 11 for connection
details.
4. (Optional) Establish the CAN connection using the CAN cable. Refer to “Connector Pin Assignments and Signal
Levels” on page 11 for connection details.
5. Establish the power supplies to the PICO controller (cable P/N 7027455) and the Toµch controller (refer to the
Toµch controller operating manual if needed).
PICO Controller 2+2-XCH-V2
10 www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Channels 1–4 D-Subconnector Pins
NOTES:
• Each channel of the PICO controller has an associated 25-pin D-subconnector. The Y-connection cable
(P/N7028222 or 7012975) is normally used to connect the PICO controller / Toµch controller to the PLC.
• The IN1 to IN10 and IN_STOP input signals are used to control the channel output signals (pulse-pause blocks).
These input signals can be generated by switches (hand or foot switch, limit switch, relay, light barrier, etc.) or by
electronic control devices (PLC or similar).
• A semi-conductor relay must be used to receive a clear, bounce-free signal.
• The terms input and output in the following table refer to the connections on the Y-connection cable (P/Ns
7028222 and 7012975).
Pin Signal Comment
1 +24V Operating voltage + 24 VDC
2 — No assignment
3 — No assignment
4 GND Reference potential of the operating voltage
Connector Pin Assignments and Signal Levels
Power Supply Socket Pins
CAN Interface D-Subconnector Pins
Through a CAN interface, the PICO controller can communicate with a primary device via the CAN bus. Without
communication, the unit operates autonomously.
Pin Signal Comment
1 — Not assigned
2 CAN_LOW Data line
3 GND Reference potential CAN
4 — Not assigned
5 — Not assigned
6 — Not assigned
7 CAN_HIGH Data line
8 — Not assigned
9 — Not assigned
PICO Controller 2+2-XCH-V2
11www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

NOTES (about channel interfaces):
• Dispensing can be started only when high level (+12 to +30 V) is on pin 17. If the EMERGENCY OFF feature is
activated, the high level must also be on pin 15.
• Pins can be connected for tests without a PICO Toµch controller:
Pins 1 and 2: Elimination of galvanic isolation
Pins 3, 4, 15, and 17: Use of the internal potential and simulation of fault-free operation
Pin Signal Level Comment
Inputs
1 DGND 0 V Internal reference potential
2 GND_IO 0 V Reference potential for inputs and outputs
4 24 V_IO External supply of +24 V for the outputs
5 IN1 0 V / 24 V To activate a block (reference GND_IO)
6 IN2 0 V / 24 V To activate a block (reference GND_IO)
7 IN3 0 V / 24 V To activate a block (reference GND_IO)
8 IN4 0 V / 24 V To activate a block (reference GND_IO)
9 IN5 0 V / 24 V To activate a block (reference GND_IO)
10 IN6 0 V / 24 V To activate a block (reference GND_IO)
11 IN7 0 V / 24 V To activate a block (reference GND_IO)
12 IN8 0 V / 24 V To activate a block (reference GND_IO)
13 IN9 0 V / 24 V To activate a block (reference GND_IO)
14 IN10 0 V / 24 V To activate a block (reference GND_IO)
15 IN_STOP 0 V / 24 V Emergency off: 24 V = unit ready 0 V = unit stopped
16* (0 V / 24 V) Internal use [IN_TEMP_PLC - bin. PICO Toµch controller input
“Temperature limit for dispensing material reached” (reference DGND)]
17* (0 V / 24 V) Internal use [IN_FAULT_PLC - bin. PICO Toµch controller input
Dispensing sequence fault” (reference DGND)]
18 IN_ANALOG 0–10 V To control the pause time assigned between 0.12 ms and the delay time (reference DGND)
25 DGND 0 V Internal reference potential
Outputs
3 24 V 24 V Unit’s internal 24 V supply is threaded out of the unit to be used as potential for the binary inputs
/ outputs
19 OUT_READY 0 V / 24 V
max. 20 mA Message indicating channel readiness (reference GND_IO); 24 V = IO
20 OUT_LINE_END 0 V / 24 V
max. 20 mA Message indicating end of pulse output in the channel with 24 V / 100 ms (reference GND_IO)
21 OUT_TEMP_PLC 0 V / 24 V
max. 20 mA
Status output temperature, comparison of actual and setpoint temperature of valve 24 V / 100 ms
(Bezug GND_IO)
22 OUT_FAULT_PLC 0 V / 24 V
max. 20 mA
Status output faults. Following functions are checked:
- Valve connection (ENA)
- Drive voltage
- Heater (short-circuit / broken cable)
- Temperature sensor (short-circuit / broken cable)
- Over-temperature
- Level check reached
24 V = OK, 0 V = fault
23 OUT_ANALOG 0–5 / 10 V
max. 10 mA
Test point 0–5 / 10 V to specify the temperature to the PICO Toµch controller; adjustable with
software switch
24 PULS_OUT 0 V / 24 V
max. 80 mA Output signal pulse-pause block (reference DGND) to PICO Toµch controller
*Pins 16 and 17: Do not connect externally.
Channels 1–4 D-Subconnector Pins (continued)
PICO Controller 2+2-XCH-V2
12 www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Installation Example
The following diagram shows a system with two 2-channel PICO Controllers, 4 PICO Toµch controllers, four cables
(P/N 7028222 or P/N 7012975) and four PICO Pµlse valves. The illustrations below provide two examples of how
cable P/Ns 7012975/7028222 can be configured.
4x P/N 7028222
or 7012975
Cable P/N 7012975 Cable P/N 7028222
PICO Toµch controllers and Pµlse valves
PICO
Controller V2,
2 channel
HMI
PLC
CAN Multi-
master
PICO Controller 2+2-XCH-V2
13www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Setup
Design and Interfaces
The PICO controller has the interfaces shown in the diagram above. Optional Channels 3 and 4 can be added later
with a plug-in card. When controlling with the PLC, it is advisable to supply the binary communication signals with
the external PLC operating voltage galvanically isolated from the PICO controller (refer to the circuit diagrams under
“Technical Data” on page 48).
The PICO controller works on the basis of a microprocessor. Parameters are set using an ASCII text file and SD
card. Parameters can also be adjusted locally on the PICO controller (within set limits ) by using the Menu dial and
the Enter and ESC (escape) keys on the front of the unit. The display shows the current values.
PICO Controller 2+2-XCH-V2
14 www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Signal Level Sources
The following signal levels apply to the input and output signals.
Input level Low 0 to + 5 V High +12 to +30 V
Affects IN1 to IN10 IN1 to IN10 not active IN1 to IN10 is activated
Affects IN_STOP IN_STOP active IN_STOP not active
= emergency off = no emergency off
Output level 0 V 24 V
Meaning of OUT_READY 0 V = not ready 24 V = ready
Meaning of
OUT_LINE_END 0 V = no response possible 24 V pulse, duration 100 ms
= end of pulse output
OUT_TEMP_PLC 0 V = temperature dispensing 24 V = temperature dispensing
material–fault material–normal
OUT_FAULT_PLC 0 V = process fault 24 V = process normal
Output signal 0 V = no dispensing sequence 24 V = dispensing sequence active
channels 1–4
The signal levels / potentials of the binary input and output signals can be provided by the internal power supply of
the PICO controller or by a separate source (PLC, power supply unit, or similar device).
The switch stages of the binary input and output signals of the PICO controller are galvanically isolated from the
power supply at the factory. Depending on which source of potential is chosen, the following instructions must be
complied with when connecting to the 25-pin D-subconnector (Channels 1 to 4).
PICO Controller 2+2-XCH-V2
15www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Device-Internal Potential
Use
Internal potential is provided by the PICO controller power supply. This version is used primarily when potential-free
switches and keys are used to activate the pulse sequences.
Action required for device-internal potential
[refer to “Circuit Diagram (Device-Internal Potential)” on page 48]
To internally connect the potential, the following electrical points must be connected in the 25-pin D-subconnectors
for the respective channels:
DGND and GND_IO points (meaning connecting PIN 1 and 2) as well as
24 V and 24 V_IO points (meaning connecting PIN 3 and 4).
This eliminates galvanic isolation of the individual switch stages.
The 24 V potential is applied to make contacts (IN1 to IN10) and break contacts (IN_STOP) and, after actuation of
these switches, triggers the respective activations (start a pulse sequence or emergency off).
With this application, the output signals can be used, for example, as optical or acoustic indications to the operator.
The maximum load capacity of the outputs must be complied with (refer to “Specifications” on page 6).
External Potential
Use
Separate potential is used primarily when the controlling device has its own power supply (PLC, control electronics,
etc.) and the inputs IN1 to IN10 as well as IN_STOP are triggered directly by binary signals. An electrical connection
should be established between the external voltage supply and the input and output stages of the PICO controller
for this purpose.
Action required for external potential
[refer to “Circuit Diagram (External Potential)” on page 49]
24 V_IO and GND_IO should be connected to the respective terminals of the external voltage supply.
The input signals IN1 to IN10 should still be triggered directly.
With this application, the output signals OUT_READY and OUT_LINE_END serve primarily as acknowledgement for
the control program.
PICO Controller 2+2-XCH-V2
16 www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Output Impulses
Each channel has its own section in the program memory. A program for a dispensing sequence consists of 1to 99
lines. The lines and blocks are compiled with a text editor for each channel on a PC as a .txt file. They are buffered
on an SD card and then loaded into the memory of the PICO controller. A pulse-pause block is started with input
signals IN1 to IN10 or manually via the operating menu.
Pulse Pause Lines
A pulse-pause line consists of 1 to 999 identical cycles (repetitions). A cycle is made up of one pulse duration and
one pause duration.
A dispensing time can be 0 or at least 0.05 ms. With a dispensing time of 0 ms, a constant or variable delay
can precede a dispensing sequence. This is done by entering the respective numerical value or a “v” in the
corresponding line in the “Pause time” field in the control program.
The pause time between two dispensing pulses should be at least 0.12 ms.
A continuous signal (continuous dispensing) can be programmed when the pause time is 0 ms. This enables an
uninterrupted line or a bead to be applied.
The general course of a pulse-pause line is shown in the following illustration. The variables for a pulse-pause line (=
“line”) are dispensing time, pause time, and number of pulses. To make fine adjustments easier, the cycle is set (at
the unit) instead of the pause time. The pulse height is a steady +24 VDC; it cannot be modified.
A line can be activated individually or can be linked to a block.
Up to 99 different pulse-pause lines can be stored in the program memory of the PICO controller. A line is started
with a binary input signal, IN1 to IN10, passively by linking it to a previous line or by activating through the Manual
Mode menu option.
Figure 1: General momentum diagram for a pulse-pause-line
(a line consists of 1 to 999 pulse-pause cycles)
Amplitude (V)
Start of the line / row
Start of a new
pulse interval
cycle
Cycle = Dosing Time + Pause Time
Time (t)
Pause Time
Dosing Time =
Pulse Time
PICO Controller 2+2-XCH-V2
17www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Pulse-Pause Blocks
A block of 2 to 99 pulse-pause lines is referred to as a pulse-pause block. A delay of 0 to 9.999 seconds (in
increments of 1 ms) can be inserted between two lines that are to be linked.
A block is started for each channel with binary signal IN1 to IN 10 or through the PICO controller menu.
When lines are linked, the completed line activates the next (linked) line without an additional start signal (passive
activation). Infinite loops can also be programmed.
An infinite loop can be interrupted only with the signal IN_STOP or, in manual mode, with ESC. Always test
thoroughly.
CAUTION
Binary signals (start signals) can be generated by key, by hand, foot, or limit switches, or by a PLC, industrial
PC, etc. The binary signal that is to trigger the start of a line must be specified in the line program. The following
momentum diagram shows an example of a pulse-pause block consisting of three linked lines.
The block shown in Example 1 consists of three lines with different constant pulse and pause times as well as a
different number of impulse cycles per line. Line 1 is started with input signal IN1 to IN10. Linked lines 2 and 3 are
started after completion of the previous line. A delay was inserted between lines 1 and 2 as well as between lines 2
and 3.
A delay between 0 and 9.999 ms can be selected.
Amplitude (V)
Start of the block with an input signal
Time (t)
End of the bock
Figure 2: Example 1—Pulse-pause block with three lines / rows
Row 1
(8 cycles)
Row 2
(6 cycles)
Row 3
(4 cycles)
Delay
time 2
Delay
time 1
Pulse 1 Pause 1 Pause 2Pulse 2 Pause 3Pulse 3
Output Impulses (continued)
PICO Controller 2+2-XCH-V2
18 www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

Data Communication via CAN Bus
In addition to being triggered manually or via binary input signals IN1 to IN10, dispensing sequences (output signals)
can also be controlled by CAN bus communication. The respective setting is located under the Process Data menu
option, Automatic Mode submenu.
The required bus interface is integrated into the PICO controller. Data transmission between the higher-ranking
control unit and a connected PICO controller occurs via a CAN bus according to the master-slave principle: the
primary control unit is the master, while the connected PICO controllers are the slaves.
Each slave (PICO controller) connected to the CAN bus receives its own address. The master (primary control unit)
uses the address to select the slave. The transmission rate used for transmission can be selected by the operator.
The address and the transmission rate must be set for each PICO controller under the System Data menu option.
Value ranges for addresses and transmission rates
(parameter selection, default settings, values after factory reset)
Parameter Value range Default value and setting after factory reset
CAN address range 0 to 63 Address 63
Possible transmission rates 125 kBit/s 125 kBit/s
250 kBit/s
500 kBit/s
Communication
The standard CAN protocol format (11-bit identifier) as stipulated by the CAN specification 2.0 is used for
communication. The request sent by the master to the slave is responded to as quickly as possible with this
protocol. The time that it takes to receive a response is a factor of the current transmission rate and of the state of
the unit. A typical response time is under 2 ms.
PICO Controller 2+2-XCH-V2
19www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.

The CAN Data Telegram
Communication via the CAN bus consists of the transmission of data telegrams. Reference data, data for network
management, and data used to save data are sent with a CAN data telegram. There must be at least 3 recessive bits
between two telegrams (data frame or remote frame).
Principle Design of a CAN Data Telegram
Network Installation
When a network is installed, correct terminals on the bus lines are essential. Connect a terminating resistor of 120
ohm, 1/4 W power dissipation to both ends of the bus line between CAN_H and CAN_L (pin 2 and pin 7 of the CAN
cable). See the following diagram.
Terminator:
120 Ω, 1/4 W
Terminator:
120 Ω, 1/4 W
Node N
(submaster n)
Node 1
(submaster 1)
Sender sends a recessive
level in ACK slot; receiver
sends by errorless reception
(i.e., correct cRC) dominant
level
Recessive
Dominant
End of frame
Data field
Data safe field
(15 bit CRC; 1 bit delimiter
Validation field
(1 bit ACK slot; 1 bit ACK delimiter
Control field
Arbitration field
Start of frame
Length of
the fields
in bits
Telegram clearance Data frame
Standard 12
Extended 32
Telegram clearance or
overload frame
Data Communication via CAN Bus (continued)
PICO Controller 2+2-XCH-V2
20 www.nordsonefd.com [email protected] [phone] Sales and service of Nordson EFD dispensing systems are available worldwide.