Nordson EFD E2 User manual

E Series Automated Dispensing Systems
Operating Manual
™
Electronic pdf les of Nordson EFD
manuals are also available at
www.nordsonefd.com

E Series Automated Dispensing System
2www.nordsonefd.com [email protected] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.
You have selected a reliable, high-quality dispensing system from Nordson EFD, the world leader in
uid dispensing. Nordson EFD automated dispensing systems are designed specically for industrial
dispensing and will provide you with years of trouble-free, productive service.
This manual will help you maximize the usefulness of your automated dispensing system.
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 nest 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 satised customer.
If at any time you are not fully satised 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

E Series Automated Dispensing System
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Contents..........................................................................................................................................................................3
Introduction .....................................................................................................................................................................6
Nordson EFD Product Safety Statement ........................................................................................................................7
Halogenated Hydrocarbon Solvent Hazards ...............................................................................................................8
High Pressure Fluids....................................................................................................................................................8
Qualied Personnel......................................................................................................................................................8
Intended Use ...............................................................................................................................................................8
Regulations and Approvals..........................................................................................................................................9
Personal Safety............................................................................................................................................................9
Fire Safety....................................................................................................................................................................9
Preventive Maintenance ............................................................................................................................................10
Important Disposable Component Safety Information ..............................................................................................10
Action in the Event of a Malfunction..........................................................................................................................10
Disposal .....................................................................................................................................................................10
Equipment-Specic Safety Information.....................................................................................................................11
Specications................................................................................................................................................................12
Operating Features........................................................................................................................................................13
Component Identication ..........................................................................................................................................13
Front Panel.................................................................................................................................................................13
Back Panel.................................................................................................................................................................14
Installation .....................................................................................................................................................................14
Unpack the System Components..............................................................................................................................14
Position the Robot and Install and Connect Components ........................................................................................15
Prepare the Work Surface or Fixture Plate ................................................................................................................16
Connect Inputs / Outputs (Optional)..........................................................................................................................16
Connect a Barcode Scanner (Optional).....................................................................................................................16
Power On the System................................................................................................................................................17
Concepts.......................................................................................................................................................................18
About Programs and Commands..............................................................................................................................18
About Tip Height........................................................................................................................................................19
About Mark Points .....................................................................................................................................................19
Overview of the Teach Pendant.....................................................................................................................................20
Run Mode vs. Teach Mode........................................................................................................................................21
Executing Functions and Entering Numeric Data......................................................................................................21
Navigating the Menus................................................................................................................................................22
Jogging the Dispensing Tip .......................................................................................................................................22
Teach Pendant Key Descriptions...............................................................................................................................23
Teach Pendant Menu Structure .................................................................................................................................24
Teach Pendant Menu Item Descriptions....................................................................................................................25
Program Menu .......................................................................................................................................................25
Menu 1 ...................................................................................................................................................................26
Utility Menu ............................................................................................................................................................27
Diagnostic Menu ....................................................................................................................................................28
Menu 2 ...................................................................................................................................................................28
Setup Menu............................................................................................................................................................29
Type Menu..............................................................................................................................................................31
USB Menu..............................................................................................................................................................31
Continued on next page
Contents

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Setup .............................................................................................................................................................................32
Switching from Run Mode to Teach Mode ................................................................................................................32
Setting System Parameters .......................................................................................................................................32
XY Move Speed or Z Move Speed.........................................................................................................................33
Axis Limit................................................................................................................................................................33
Jog Acceleration ....................................................................................................................................................34
Teach Move ZClearance (How High the Tip Lifts in the Teach Mode) ..................................................................34
Point to Point Arc Jump .........................................................................................................................................35
Park Position ..........................................................................................................................................................35
Pause Status (Tip Pause Location) ........................................................................................................................36
Pre-Cycle Initialize (Auto-Initialize).........................................................................................................................36
Pre-Dispense Wait Time.........................................................................................................................................37
Default Dispense Port (Dispense Port Output).......................................................................................................37
Measurement Unit..................................................................................................................................................38
Password Setup.....................................................................................................................................................38
Auto Purge .............................................................................................................................................................39
Language ...............................................................................................................................................................40
Key Beep................................................................................................................................................................40
Setting the Tool Offset ...............................................................................................................................................41
Setting Up Barcode Scanning ...................................................................................................................................42
Setting the Dispenser Ports.......................................................................................................................................43
Programming.................................................................................................................................................................44
Working with Programs and Commands...................................................................................................................44
How to Switch from Run Mode to Teach Mode.....................................................................................................44
How to Open and Edit a Program..........................................................................................................................45
How to Name a Program........................................................................................................................................46
How to Clear or Copy a Program...........................................................................................................................47
How to Jump to a Specic Address or Label ........................................................................................................48
How to Insert or Delete a Command .....................................................................................................................48
How to Change a Group of Addresses (Group Edit)..............................................................................................49
How to Set Mark Points .........................................................................................................................................52
How to Adjust All Points in a Program (Program Offset)........................................................................................53
How to Expand a Step & Repeat Command .........................................................................................................54
How to Lock or Unlock the System .......................................................................................................................55
How to Upload / Download Programs Using the SVC USB Port ..........................................................................57
How to Create and Run a Program........................................................................................................................58
Creating Patterns.......................................................................................................................................................60
How to Make a Dot ................................................................................................................................................60
How to Make a Line ...............................................................................................................................................61
How to Make an Arc...............................................................................................................................................63
How to Make a Circle.............................................................................................................................................65
How to Fill an Area .................................................................................................................................................66
How to Make an Array of Dots (Step & Repeat).....................................................................................................68
Calibrating the Tip Height ..........................................................................................................................................70
Systems without a Tip Detector.............................................................................................................................70
Systems with a Tip Detector ..................................................................................................................................72
Working with Inputs / Outputs ...................................................................................................................................74
Enable or Disable an Input / Output.......................................................................................................................74
Automatically Switch Outputs ON .........................................................................................................................75
Set How Outputs Behave at the End of a Program ...............................................................................................75
Contents (continued)
Continued on next page

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Operation.......................................................................................................................................................................76
Starting the System for Routine Operation................................................................................................................76
Running a Program by Scanning a Barcode .............................................................................................................76
Pausing During a Dispense Cycle..............................................................................................................................77
Purging the System ...................................................................................................................................................77
Shutting Down the System ........................................................................................................................................77
Part Numbers ................................................................................................................................................................77
Accessories ...................................................................................................................................................................78
Safety Enclosures ......................................................................................................................................................78
Pre-Congured Output Cables ..................................................................................................................................78
Fixture Plates .............................................................................................................................................................79
Start / Stop Box .........................................................................................................................................................79
Tip Alignment Kit .......................................................................................................................................................79
Height Sensor ............................................................................................................................................................79
Mounting Brackets ....................................................................................................................................................80
Troubleshooting.............................................................................................................................................................81
Teach Pendant Error Messages.................................................................................................................................81
Diagnostic Checks (Diagnostic Menu).......................................................................................................................82
Restoring the System to the Factory Default Settings (Clear Memory).....................................................................84
Technical Data ...............................................................................................................................................................85
Dimensions ................................................................................................................................................................85
Mounting Hole Template............................................................................................................................................85
Wiring Diagrams ........................................................................................................................................................86
Dispenser Port .......................................................................................................................................................86
Ext. Control Port.....................................................................................................................................................86
I/O Port...................................................................................................................................................................87
RS232 Port (for Remote Communication)..............................................................................................................87
Example Input / Output Connections.....................................................................................................................88
Appendix A, Type Menu Reference...............................................................................................................................89
Appendix B, RS-232 Communication Protocol...........................................................................................................113
Appendix C, DXF File Import Using TeachMotion DXF ...............................................................................................115
Installing TeachMotion DXF and Connecting to the Robot......................................................................................115
Overview of the TeachMotion DXF Software ...........................................................................................................116
Program Screen and Icons...................................................................................................................................117
Option Screen ......................................................................................................................................................120
DXF Screen and Icons..........................................................................................................................................121
Modifying the DXF Import Options ..........................................................................................................................123
Importing a DXF File ................................................................................................................................................124
Appendix D, Height Sensor Setup and Use................................................................................................................128
Contents (continued)

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Introduction
This manual provides installation, setup, programming, operation, and service information for all components of a
Nordson EFD E Series automated dispensing system. Nordson EFD’s automated dispensing systems dispense uid
in a preprogrammed pattern onto a workpiece. They are specically designed and congured for use with Nordson
EFD industrial syringe barrel and valve systems. Automated dispensing systems offer the exibility of working either
as a stand-alone system or as a key part of an automated solution and are easily integrated into in-line transfer
systems, rotary tables, and pallet assembly lines.
The primary components of an automated dispensing system are the Teach Pendant (TP), the robot, and the
dispensing valve components. The robot executes a program to dispense uid from the valve in a specic pattern
onto a workpiece. Programs are created and executed using the Teach Pendant. Material is dispensed through a
Nordson EFD syringe barrel or valve system. A valve system may be contact or non-contact. Contact systems may
dispense uid through a needle or a dispensing tip. For the purposes of this manual, “dispensing tip” refers to either
a needle or a tip.

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Nordson EFD Product Safety Statement
The safety messages that follow have a CAUTION level hazard.
Failure to comply may result in minor or moderate injury.
CAUTION
READ MANUAL
Read manual for proper use of this equipment. Follow all safety instructions. Task- and equipment-
specic warnings, cautions, and instructions are included in equipment documentation where
appropriate. Make sure these instructions and all other equipment documents are accessible to
persons operating or servicing equipment.
The safety message that follows has a WARNING level hazard.
Failure to comply could result in death or serious injury.
WARNING
ELECTRIC SHOCK
Risk of electric shock. Disconnect power before removing covers and / or disconnect, lock out, and
tag switches before servicing electrical equipment. If you receive even a slight electrical shock, shut
down all equipment immediately. Do not restart the equipment until the problem has been identied
and corrected.
MAXIMUM AIR PRESSURE
Unless otherwise noted in the product manual, the maximum air input pressure is 7.0 bar (100 psi).
Excessive air input pressure may damage the equipment. Air input pressure is intended to be applied
through an external air pressure regulator rated for 0 to 7.0 bar (0 to 100 psi).
RELEASE PRESSURE
Release hydraulic and pneumatic pressure before opening, adjusting, or servicing pressurized
systems or components.
BURNS
Hot surfaces! Avoid contact with the hot metal surfaces of heated components. If contact can not be
avoided, wear heat-protective gloves and clothing when working around heated equipment. Failure
to avoid contact with hot metal surfaces can result in personal injury.

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Nordson EFD Product Safety Statement (continued)
Halogenated Hydrocarbon Solvent Hazards
Do not use halogenated hydrocarbon solvents in a pressurized system that contains aluminum components.
Under pressure, these solvents can react with aluminum and explode, causing injury, death, or property damage.
Halogenated hydrocarbon solvents contain one or more of the following elements.
Element Symbol Prefix
Fluorine F “Fluoro-”
Chlorine Cl “Chloro-”
Bromine Br “Bromo-”
Iodine I “Iodo-”
Check the Safety Data Sheet (SDS) or contact your material supplier for more information. If you must use
halogenated hydrocarbon solvents, contact your EFD representative for compatible EFD components.
High Pressure Fluids
High pressure uids, unless they are safely contained, are extremely hazardous. Always release uid pressure before
adjusting or servicing high pressure equipment. A jet of high pressure uid can cut like a knife and cause serious
bodily injury, amputation, or death. Fluids penetrating the skin can also cause toxic poisoning.
WARNING
Any injury caused by high pressure liquid can be serious. If you are injured or even suspect an injury:
• Go to an emergency room immediately.
• Tell the doctor that you suspect an injection injury.
• Show the doctor the following note.
• Tell the doctor what kind of material you were dispensing.
Medical Alert — Airless Spray Wounds: Note to Physician
Injection in the skin is a serious traumatic injury. It is important to treat the injury surgically as soon as possible. Do
not delay treatment to research toxicity. Toxicity is a concern with some exotic coatings injected directly into the
bloodstream.
Qualified Personnel
Equipment owners are responsible for making sure that EFD equipment is installed, operated, and serviced by
qualied personnel. Qualied personnel are those employees or contractors who are trained to safely perform
their assigned tasks. They are familiar with all relevant safety rules and regulations and are physically capable of
performing their assigned tasks.
Intended Use
Use of EFD equipment in ways other than those described in the documentation supplied with the equipment may
result in injury to persons or damage to property. Some examples of unintended use of equipment include:
• Using incompatible materials.
• Making unauthorized modications.
• Removing or bypassing safety guards or interlocks.
• Using incompatible or damaged parts.
• Using unapproved auxiliary equipment.
• Operating equipment in excess of maximum ratings.
• Operating equipment in an explosive atmosphere.

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Regulations and Approvals
Make sure all equipment is rated and approved for the environment in which it is used. Any approvals obtained for
Nordson EFD equipment will be voided if instructions for installation, operation, and service are not followed. If the
equipment is used in a manner not specied by Nordson EFD, the protection provided by the equipment may be
impaired.
Personal Safety
To prevent injury, follow these instructions:
• Do not operate or service equipment unless you are qualied.
• Do not operate equipment unless safety guards, doors, and covers are intact and automatic interlocks are
operating properly. Do not bypass or disarm any safety devices.
• Keep clear of moving equipment. Before adjusting or servicing moving equipment, shut off the power supply
and wait until the equipment comes to a complete stop. Lock out power and secure the equipment to prevent
unexpected movement.
• Make sure spray areas and other work areas are adequately ventilated.
• When using a syringe barrel, always keep the dispensing end of the tip pointing towards the work and away
from the body or face. Store syringe barrels with the tip pointing down when they are not in use.
• Obtain and read the Safety Data Sheet (SDS) for all materials used. Follow the manufacturer’s instructions for
safe handling and use of materials and use recommended personal protection devices.
• Be aware of less-obvious dangers in the workplace that often cannot be completely eliminated, such as hot
surfaces, sharp edges, energized electrical circuits, and moving parts that cannot be enclosed or otherwise
guarded for practical reasons.
• Know where emergency stop buttons, shutoff valves, and re extinguishers are located.
• Wear hearing protection to protect against hearing loss that can be caused by exposure to vacuum exhaust port
noise over long periods of time.
Fire Safety
To prevent a re or explosion, follow these instructions:
• Shut down all equipment immediately if you notice static sparking or arcing. Do not restart the equipment until
the cause has been identied and corrected.
• Do not smoke, weld, grind, or use open ames where ammable materials are being used or stored.
• Do not heat materials to temperatures above those recommended by the manufacturer. Make sure heat
monitoring and limiting devices are working properly.
• Provide adequate ventilation to prevent dangerous concentrations of volatile particles or vapors. Refer to local
codes or the SDS for guidance.
• Do not disconnect live electrical circuits when working with ammable materials. Shut off power at a disconnect
switch rst to prevent sparking.
• Know where emergency stop buttons, shutoff valves, and re extinguishers are located.
Nordson EFD Product Safety Statement (continued)

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Nordson EFD Product Safety Statement (continued)
Preventive Maintenance
As part of maintaining continuous trouble-free use of this product, Nordson EFD recommends the following simple
preventive maintenance checks:
• Periodically inspect tube-to-tting connections for proper t. Secure as necessary.
• Check tubing for cracks and contamination. Replace tubing as necessary.
• Check all wiring connections for looseness. Tighten as necessary.
• Clean: If a front panel requires cleaning, use a clean, soft, damp rag with a mild detergent cleaner. DO NOT USE
strong solvents (MEK, acetone, THF, etc.) as they will damage the front panel material.
• Maintain: Use only a clean, dry air supply to the unit. The equipment does not require any other regular
maintenance.
• Test: Verify the operation of features and the performance of equipment using the appropriate sections of this
manual. Return faulty or defective units to Nordson EFD for replacement.
• Use only replacement parts that are designed for use with the original equipment. Contact your Nordson EFD
representative for information and advice.
Important Disposable Component Safety Information
All Nordson EFD disposable components, including syringe barrels, cartridges, pistons, tip caps, end caps,
and dispense tips, are precision engineered for one-time use. Attempting to clean and re-use components will
compromise dispensing accuracy and may increase the risk of personal injury.
Always wear appropriate protective equipment and clothing suitable for your dispensing application and adhere to
the following guidelines:
• Do not heat syringe barrels or cartridges to a temperature greater than 38° C (100° F).
• Dispose of components according to local regulations after one-time use.
• Do not clean components with strong solvents (MEK, acetone, THF, etc.).
• Clean cartridge retainer systems and barrel loaders with mild detergents only.
• To prevent uid waste, use Nordson EFD SmoothFlow™pistons.
Action in the Event of a Malfunction
If a system or any equipment in a system malfunctions, shut off the system immediately and perform the following
steps:
1. Disconnect and lock out system electrical power. If using hydraulic and pneumatic shutoff valves, close and
relieve pressure.
2. For Nordson EFD air-powered dispensers, remove the syringe barrel from the adapter assembly. For Nordson
EFD electro-mechanical dispensers, slowly unscrew the barrel retainer and remove the barrel from the actuator.
3. Identify the reason for the malfunction and correct it before restarting the system.
Disposal
Dispose of equipment and materials used in operation and servicing according to local codes.

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Equipment-Specific Safety Information
The following safety information is specic to Nordson EFD automated dispensing systems.
European Community
To meet the requirements of the European Community (CE) safety directives, the robot must be placed in an
enclosure. The enclosure prevents an operator from entering the robot’s work area and generates an emergency
stop signal if the door switch is opened while the robot is running.
WARNING
Install the input / output safety plug only to bypass the door switch. When this plug is installed, the installer assumes
all safety liability.
Installation Location
Do not store, install, or operate the robot in a location where it is exposed to the following:
• Temperatures lower or higher than 0–40 °C (50–104 °F) or humidity lower or higher than 20–95%
• Direct sunlight
• Electrical noise
• Flammable or corrosive gases
• Dust or iron powder
• Sources of splashing water, oil, or chemicals
• Radioactive materials, magnetic elds, or vacuum rooms
Power and Grounding
• Connect the robot and accessories to a properly grounded power source.
• Ensure that the system is connected to the correct voltage.
Operation and Service
• Turn on the dust collection system before operating the robot.
• Do not drop or spill foreign objects or material, such as screws or liquids, into the robot.
• Do not overload the robot.
• Do not touch any part of the robot while it is running. Load and unload workpieces or material only when the
robot is stopped.
• Disconnect and lock out power to the system before changing xtures or tooling.
• Use only a neutral detergent for cleaning. Do not use alcohol, benzene, or thinner.
• Refer to the maintenance instructions for a recommended maintenance schedule, detailed cleaning instructions,
and available tools and supplies for servicing the robot.
Nordson EFD Product Safety Statement (continued)

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Specifications
Item/Model E2 E3 E4 E5 E6
Number of axes 3 3 3 3 3
Maximum working
area (X / Y / Z )
200 / 200 / 50 mm
(8 / 8 / 2")
300 / 300 / 100 mm
(12 / 12 / 4")
400 / 400 / 100 mm
(16 / 16 / 4")
500 / 500 / 150 mm
(20 / 20 / 6")
620 / 500 / 150 mm
(24 / 20 / 6")
Workpiece
payload 5 kg (11.0 lb) 10 kg (22.0 lb) 10 kg (22.0 lb) 10 kg (22.0 lb) 10 kg (22.0 lb)
Tool payload 3 kg (6.6 lb) 5 kg (11.0 lb) 5 kg (11.0 lb) 5.5 kg (7.7 lb) 5 kg (11.0 lb)
Unit weight 21 kg (46 lb) 39.5 kg (87 lb) 44.5 kg (98 lb) 47 kg (107 lb) 50 kg (110 lb)
Dimensions 370Wx510Hx414Dmm
(15Wx 20Hx 16"D)
490Wx644Hx519Dmm
(19Wx 25Hx 20"D)
590Wx644Hx617Dmm
(23Wx 25Hx 24"D)
690Wx814Hx718Dmm
(27Wx 32Hx 28"D)
808Wx812Hx718Dmm
(32Wx 32Hx 28"D)
Maximum speed
(XY / Z)
500 / 250 mm/s
(20 / 10"/s)
800 / 320 mm/s
(31 / 13"/s)
800 / 320 mm/s
(31 / 13"/s)
800 / 320 mm/s
(31 / 13"/s)
800 / 320 mm/s
(31 / 13”/s)
Drive system 3-phase micro-
stepping motor
3-phase micro-
stepping motor
3-phase micro-
stepping motor
3-phase micro-
stepping motor
3-phase micro-
stepping motor
Memory capacity
1-99 programs
1-9,999 points per
program
1-99 programs
1-9,999 points per
program
1-99 programs
1-9,999 points per
program
1-99 programs
1-9,999 points per
program
1-99 programs
1-9,999 points per
program
Data storage USB USB USB USB USB
General purpose
I/O 8 inputs / 8 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs
Drive method PTP and CP PTP and CP PTP and CP PTP and CP PTP and CP
Dispensing
controller External External External External External
Power supply Auto-switching,
AC100–240V, 200 W
Auto-switching,
AC100–240V, 320 W
Auto-switching,
AC100–240V, 320 W
Auto-switching,
AC100–240V, 320 W
Auto-switching,
AC100–240V, 320 W
Interpolation 3 axes (3D space) 3 axes (3D space) 3 axes (3D space) 3 axes (3D space) 3 axes (3D space)
Repeatability* ±0.008 mm/axis ±0.008 mm/axis ±0.008 mm/axis ±0.008 mm/axis ±0.008 mm/axis
Working
temperature 10–40° C (50–104° F) 10–40° C (50–104° F) 10–40° C (50–104° F) 10–40° C (50–104° F) 10–40° C (50–104° F)
Teach Pendant Included Included Included Included Included
Tip alignment kit Optional Optional Optional Optional Optional
Approvals CE, RoHS, WEEE, China RoHS
*Repeatability results may vary depending on the method of measurement.
RoHS标准相关声明 (China RoHS Hazardous Material Declaration)
产品名称
Part Name
有害物质及元素
Toxic or Hazardous Substances and Elements
铅 
Lead
(Pb)
汞 
Mercury
(Hg)
镉 
Cadmium
(Cd)
六价铬
Hexavalent
Chromium
(Cr6)
多溴联苯
Polybrominated
Biphenyls
(PBB)
多溴联苯醚
Polybrominated
Diphenyl Ethers
(PBDE)
外部接口
External Electrical
Connectors
X00000
O:表示该产品所含有的危险成分或有害物质含量依照EIP-A,EIP-B,EIP-C
的标准低于SJ/T11363-2006限定要求。
Indicates that this toxic or hazardous substance contained in all the homogeneous materials for this part, according to EIP-A, EIP-B, EIP-C is below
the limit requirement in SJ/T11363-2006.
X:表示该产品所含有的危险成分或有害物质含量依照EIP-A,EIP-B,EIP-C
的标准高于SJ/T11363-2006限定要求.
Indicates that this toxic or hazardous substance contained in all the homogeneous materials for this part, according to EIP-A, EIP-B, EIP-C is above
the limit requirement in SJ/T11363-2006.
WEEE Directive
This equipment is regulated by the European Union under WEEE Directive (2012/19/EU). Refer to
www.nordsonefd.com/WEEE for information about how to properly dispose of this equipment.

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Teach Pendant (TP)
E Series robot
Syringe barrel for
uid dispensing
Fixture plate
(optional)
Operating Features
Component Identification
EMERGENCY
STOP button
START button
DISPENSER
PURGE button
Teach Pendant
connection
SVC USB port (for
transferring programs or
connecting a barcode
scanner)
Front Panel
Tip alignment kit
(optional)

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Installation
Use this section in tandem with the Quick Start Guide and the valve system manuals to install all components of the
system.
Unpack the System Components
CAUTION
Unpacking the robot requires a minimum of two people.
Do not attempt to lift the robot without assistance.
1. Remove all system components and ship-with
items from the packaging.
2. With assistance, carefully lift the robot by its base
and transfer it to a stable workbench. Never lift the
robot by its cross member.
NOTE: All units are shipped from the factory with
foam protectors that secure the worktable to
the X-axis and the Z-head to prevent movement
and damage during shipment. Nordson EFD
recommends retaining all packing material for use if
the robot is shipped or moved in the future.
3. Remove the protective foam covers and tape.
4. Double-check the shipping box to ensure you have
removed everything.
Foam
protector
Cross
member (do
not use to
lift the robot)
Back Panel
Dispenser port (for dispenser /
controller initiation)
Power
Switch
I/O Port (for
input / output
connections)
RS232 port Ext. Control port
(for the I/O safety plug)
Power Inlet
Tactile port (for the tip
detector, if present)

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Position the Robot and Install and Connect Components
Refer to the Quick Start Guide and to this section as needed to install the system components and make
connections.
NOTES:
• The components of an automated dispensing system vary. Steps for a complete system with all available
components are provided in this manual and in the Quick Start Guide. Perform only the steps that apply to your
system.
• If the system is being used in the European Community, the robot is shipped with an enclosure or light curtain
that (1) prevents an operator from entering the robot’s work area and (2) generates an emergency stop signal if the
enclosure door switch is opened while the robot is running.
Before you begin any programming or operation, complete the following tasks as applicable for your system.
Applicability Item Components to Install
or Connect Installation Tasks
All models Input / output
safety plug
(SHORTED)
Connect the input / output safety plug to
the Ext. Control port to bypass the door
switch.
CAUTION
Install this plug only if you want to bypass
the door switch. When this plug is installed,
the installer assumes all safety liability.
All models Teach Pendant Connect the Teach Pendant cable to the
Teach Pendant port on the front of the
robot.
If present Tip alignment
kit (optional)
(7360892)
Install the tip alignment kit.
Connect the cable to the Tactile port on
the back of the robot.
All models Dispensing valve
components
As applicable Mount the syringe barrel or dispensing
valve holder (as applicable) on the Z
axis; choose mounting holes that allow a
maximum workpiece clearance but also
allow the dispensing tip to reach all areas
on the workpiece where dispensing is
required.
Refer to the dispensing equipment
manuals for all other dispensing system
installation steps.

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Prepare the Work Surface or Fixture Plate
Prepare the robot work surface or xture plate for secure placement of the workpiece. All Nordson EFD automated
dispensing systems include a standard xture plate. Other xture plate sizes are available. Refer to “Accessories” on
page78.
200 x 200 standard fixture plate
Larger fixture plate (300 x 300, 400 x 400, or 500 x 500)
5.91
150.00
2.36
60.00
6X .79
20.00
2X .79
20.00
21X M4X0.7 - 6H THRU ALL
7.48
190.00
5.91
150.00
4X 1.57
40.00
3X 1.57
40.00
20X M4X0.7 - 6H THRU ALL
Connect Inputs / Outputs (Optional)
All automated dispensing systems provide 8 standard inputs and 8 standard outputs. Connect input / output wiring
to the I/O PORT connection on the back of the robot. For a wiring diagram, refer to “I/O Port” on page87. There
are several ways to use the system inputs / outputs. Refer to “Working with Inputs / Outputs” on page74 for
additional information on inputs / outputs.
Connect a Barcode Scanner (Optional)
To use a barcode scanner to run programs by scanning a barcode, connect a barcode scanner to the SVC USB port
on the front of the robot. Additional information on barcode scanning is located later in this manual, under “Setting
Up Barcode Scanning” on page42.

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Power On the System
After the system is fully installed, including the dispensing system components, switch on the system to verify the
installation.
1. Make sure the following installation tasks are complete:
• All applicable system components are installed (refer to “Installation” on page14).
• The input / output safety plug is installed (if applicable).
• The Teach Pendant cable is connected to the Teach Pendant port on the front of the robot.
• The EMERGENCY STOP button on the front panel of the robot is not depressed.
2. Switch on the robot.
The robot moves to the factory-set home position and the system is
ready.
3. Enable the dispensing system, including the valve controller. Refer to
the dispensing equipment manuals as needed.
4. Press F1 > TEACH/RUN to enter the Teach Mode.
NOTE: The Teach Pendant cable should already be connected to the
Teach Pendant port on the front of the robot.
5. Refer to the following sections to set up the system and create
programs for your applications:
• “Concepts” on page18
• “Overview of the Teach Pendant” on page20
• “Setup” on page32
• “Programming” on page44
Teach Pendant port

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Concepts
Before creating any programs, make sure you understand the concepts explained in this section.
About Programs and Commands
A program is a set of commands stored as a le. Each command is stored in the le as a numbered address.
Commands can be subdivided into the following command types:
• A setup command sets a program-level parameter, such as an XYZ coordinate or the Z clearance height.
• A dispense command is tied to an XYZ coordinate and automatically sends a signal to the dispensing system to
execute the dispense command.
When the robot executes a program, it steps through each address in sequence and executes the command
contained in that address. If an address contains a setup command, the system registers that command. If an
address contains a dispense command, the robot moves the axes to the location specied for that command and
then performs the dispense command.
Dispense commands are the building blocks of patterns. To program a dispense command, the dispensing tip is
jogged to the desired XYZ location and then a dispense command is registered for that location. This action is
repeated until the desired dispensing pattern is complete. Several examples are provided below.
Setup commands dictate how dispense commands will be executed. Nordson EFD recommends inserting setup
commands at the beginning of a program.
Dispense Command Examples
Commands Resulting Pattern
To program the robot to dispense a dot of uid, an XYZ
location is registered as a DISPENSE DOT command. DISPENSE DOT
To program the robot to dispense a bead of uid along
a linear path, the XYZ location of the start of the line is
registered as a LINE START command. The locations
where the tip changes direction are registered as LINE
PASSING commands. The location where the bead of
uid ends is registered as a LINE END command.
Line Start
Line EndLine Passing
Line Passing
To dispense a bead of uid in an arc, the XYZ location
of the start of the bead is registered as a LINE START
command. The high point of the arc is registered as an
ARC POINT command. The end of the arc is registered
as a LINE END command.
Arc Point
Line Start Line End
Lines and arcs can also be combined to dispense a
bead of uid along a complex path. Line Start
Line End
Arc Point
Line Passing
Line Passing

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About Programs and Commands (continued)
Best Practices for Programming
• Insert setup commands (including Acceleration, Dispense Port, and ZClearance) at the beginning of the
program.
• Insert dispense commands after setup commands.
• Insert the End Program command at the end of all programs.
• Name your programs (refer to “How to Name a Program” on page46).
About Tip Height
Tip height is (1) the distance between the bottom of the tip and the workpiece for contact applications or (2) the
distance between the bottom of the nozzle and the workpiece for non-contact applications. The tip height is also
known as the Zclearance.
The tip height must be calibrated and then recalibrated as needed to compensate for slight variations in height that
occur when changes are made to the system, primarily nozzle or tip change-out. If your system includes the optional
tip alignment kit, you can automatically update the tip height at any time using the Auto Needle Adjust feature.
The tip height should be recalibrated as follows:
• At initial startup.
• Any time a component on the Z axis (such as the syringe barrel) is moved.
• Any time a dispensing tip or nozzle is changed.
• Any time the payload or workpiece changes.
About Mark Points
Mark Points are specic points on a workpiece that are set using the Mark Point command. The system uses Mark
Points to adjust all the XY values in a program based on any changes made to the position or orientation of a
workpiece. This adjustment is accomplished through the Program Offset function.
Tip height
(ZClearance)
Workpiece / substrate

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Overview of the Teach Pendant
This section explains how to use the Teach Pendant and provides an overview of all the Teach Pendant keys and
menus. This information is provided for your reference as needed. To set up the system and create dispensing
programs, refer to “Setup” on page32 and to “Programming” on page44.
Display: All menus
appear in the display.
F1, F2, and F3 function
keys: Use to open the
Program Menu and save
data entries. Refer to
“Executing Functions
and Entering Numeric
Data” on page21.
Jog keys: Use these keys to
move the dispensing tip. Refer
to “Jogging the Dispensing
Tip” on page22.
Programming keys: Use
to create programs.
Refer to “Teach Pendant
Key Descriptions” on
page23.
Start key: Use to run
programs.
Home key: Moves the
dispensing tip to the Home
Position.
USB key: Use to upload or
download programs. Refer to
“How to Upload / Download
Programs Using the SVC USB
Port” on page57.
Edit key: Use to edit multiple
steps in a program. Refer to
“How to Change a Group of
Addresses (Group Edit)” on
page49.
Enter key: Selects the current
item.
Move up / down keys: Use to
move the cursor.