Techcon systems Tsr2000 series Assembly Instructions

TSR2000 Series

4 Axis Dispensing Robot

Hardware Instruction Manual

Version 1.4

Congratulations on the purchase of a Techcon Systems Automated Dispensing Robot. If you have not done

so, see the installation guide provided with your system for installation instructions.

Now that your dispensing system is ready to use, take a few moments to get to know the parts of your

dispensing system and software. This manual is designed to help you use the robot as quickly as possible.

We, here at Techcon Systems, hope you find this product beneficial. If you have any questions, please

For Sales and Support:

Techcon Systems Corporate Headquarters,

10800 Valley View Street, Cypress, California, 90630, USA.

Tel: 1-714-230-2398, Fax: 1-714-828-2001

E-mail: [email protected]

Techcon Systems European Corporate Office,

Eagle Close, Chandler’s Ford Industrial Estate,

Eastleigh, Hampshire, SO53 4NF, UK.

Tel: +44 2380 489 100, Fax: +44 2380 489 109

E-mail: [email protected]

Or visit www.techcon.com

This manual is designed to provide information about Techcon Systems robot hardware. Every effort has

been made to make this manual as complete and accurate as possible. There is no implied or expressed

warranty as to the purpose, suitability or fitness of the information. The information is provided on as as-

is basis. Techcon Systems reserves the right to improve and revise its products. This manual specifies and

describes the product as it existed at the time of publication. As with any new programming software, a

basic understanding of the vocabulary is necessary.

 
3
 
Table of Contents 
 Safety Instruction……………………………………………………………………..……. 
 Summary………………………………………………………………………………..….. 
1 Features……………………………………………………………………………… 
2 Specifications………………………………………………………………………… 
3 Unpacking and Inspection…………………………………………………………………………. 
4 Instructions about the Keypad………………………………………………….……. 
5 Course of the File Processing…………………………………………………….……… 
 Setup and Connection……………………………………………………………………… 
1 Setup………………………………………………………………………………… 
1.1 How to Connect a Syringe Dispenser with Interface Cable……………………. 
1.2 How to Connect a Valve Controller with Interface Cable…………………… 
1.3 How to Connect a Jet Valve Controller with Interface Cable ……..………………… 
1.4 Testing the Interface Connections …………………………..……………….. 
2 I/O Socket Instruction………………………………………………………………… 
2.1 Circuit Diagram of I/O Socket………………………………………………… 
2.2 Four Pin Socket “Pin Out”……………………………….………………….… 
2.3 Five Pin Socket “Pin Out”……………………………………………………. 
2.4 Seven Pin Socket “Pin Out”……………………….………………………….. 
3 Instructions For DB37 Socket………………………………………………………… 
3.1 Pin Instruction of DB37………………………………………………………. 
3.2 Circuit Diagram of DB37……………………………………………………… 
4 Instruction of Input & Output………….……………………………………………. 
4.1 IO Function Definition………………………………………………….……… 
4.2 IO Function Instruction…………………………………………………………. 
        3.5 Operation For First Time……………………………………………………………… 
                     3.5.1  Teach Pendant Programming Example……………………………………………………e 
 Off-Line Operation Interface………………………………………………………….……. 
1 Off-Line Initialization………………………………………………………………… 
2 Off- Line File Processing Interface…………………………………………….…….. 
2.1 Select Processing File…………………………………………………………… 
2.2 File Process……………………………………………………………….…….. 
2.3 Stop the File Processing……………………………………………………… 
2.4 File Processing Count & State………………………………………………….. 
3 Off-Line Origin Calibration Interface…………………………………………….….. 
4 Off-Line Loop-Work Parameter Setting Interface………………………………….... 
5 Off-Line Testing Interface…………………………………………………….……….. 
6 Times of Nozzle Interface……………………………………………………………… 
Mounting and Bracketry………………………………………………………………...….…. 
           5.1 Angle Adjustment Mounting Bracket - Attachment.........……………………………………… 
 Trouble Shooting and  Maintenance ……………………………………………..………. 
       6.1 Cooling fan maintenance……………………………………………..………………… 
       6.1.1 Emergency stop key maintenance…………………………………………………. 
                 6.1.2 Robot moving mechanism maintenance…………………………………………………. 
                 6.1.3 Shift Maintenance…………………………………………………. 
                  6.1.4 Regular Maintenance…………………………………………………. 
5
6-10 
5
6
7
8
9
9-20 
9




12-13 




14-16 

15-16 
16-20 
17-18 
18-20 

21-24 



















 
 

6.1.5 Maintenance of pressure regulating valve………………………………….

6.1.6 Maintenance of linear track………………………………………………….

6.1.7 Maintenance of ball screw………………………………………………….

7. Warranty………….……………………………………………………………………….

8. Manufacturer’s Declaration of Incorporation………………………………………...

9. Manufacturer’s Declaration of Conformity…………………………………………

1. SAFETY INSTRUCTION

Caution about the main unit

⚫Only use this robot with correct rated voltage and frequency (refer to the markings on the back of equipment).

⚫Do not move the XY moving plate and the top head, by hand. This will protect them from damage.

⚫During processing, do not touch the moving parts.

⚫Before use, check the heating controller and pressure reduction valve have been fastened reliably (if fitted).

⚫Keep the unit dry. Do not use or disconnect the equipment with wet hands.

⚫If an emergency event occurs, press the emergency switch (red) immediately. The main unit will cut off the

power and stop processing the dispensing file.

Caution about the power cord

⚫This machine is equipped with a 3-wire grounding plug and must be plugged into a 3-terminal grounded socket.

Do not modify the plug or use an ungrounded power socket. If an extension cord is necessary, use only a 3-wire

extension cord that provides grounding.

⚫Do not turn on the power of the machine if any parts are damaged, especially if the power cord is damaged.

Caution about the teaching pendant

⚫Do not connect the teaching pendant during a profile. When disconnecting the teaching pendant, loosen and

remove the fixing screws and then pull out it, once the profile has finished.

⚫For protecting the teaching pendant, from damage, do not drop it on the floor or shake it intensively.

Caution about the air supply

⚫Ensure the air flow is dry and clean. Select a suitable air pressure according the application. Suggested air

pressure is no more than 100 psi (6.9bar).

⚫During use, do not over bend or over rotate the air tubes.

2. SUMMARY

This desktop robot is designed for the automated operation for dispensing fluid. It is a fully automatic and

features a high-resolution control system with 4 Axis. This unit provides the operator with easy programming

instructions, increased parameters, a larger memory space and a higher speed, which highly improves productivity.

Note: the illustration may have some differences with each application. The dispensing equipment, such as a

dispensing valve, syringe, cartridge, etc. are optional.

2.1 Features

⚫Comprehensive 3-dimensional drawing support, such as 3-dimensional linear interpolation, capabilities of

teaching 3D graphics and user-defined 3D array.

⚫Capability to save mass files.

⚫User-defined array function: easy solution for mold deviation. Supports user-defined 3D array. Smoothing

functions of changing speed and hi-speed trajectory whilst moving. User-definable speed parameters.

⚫Group function: this function allows operators to copy, delete, modify, array, and pan multi-points.

⚫Advanced teaching pendant that supports functions, such as array, group edit, sub-procedure, condition-call

procedure etc.

⚫Unique merge function: easy resolution to process complex multi-layers, irregular array and non-array graphics.

⚫Multiple processing modes, such as single-step operation, overall processing and automatic loop processing.

Moving Plate

Emergency Switch

Communication Interface:

Connect with teaching pendent

2.2 Specifications

Description

Part Number

TSR2304

Power Supply

AC 220V

Power Consumption

120W

Number of Controllable Axis

4 Axis

Moving Range

X axis

300mm

Y axis

300mm

Z axis

100mm

R axis

±720°

Speed Range

X/Y axis

0.1～600 mm/sec

Z axis

0.1～300 mm/sec

R axis

0.1～600 degrees/sec

Repeatability Accuracy

X/Y/Z axis

±0.02 mm

R axis

±0.02°

Resolution

X/Y/Z axis

0.01 mm

R axis

0.01°

Payload

Work X

5 Kg

Head Z

2 Kg

Storage for Teaching Files

Max. 999 files & Max. 60000 bytes.

Storage for Processing Files

Max. 255 files.

Working Ambient

Temperature

0～40℃

Relative

Humidity

20％～90％ (no condensation)

Dimensions (W×D×H)

470×520×700 mm

* The specifications are subject to change without notice.

2.3 Unpacking and Inspection

Carefully unpack the valve and examine the items contained in the carton. These will include:

•Robot

•Teaching Pendant

•Teaching Pendant Cable

•Keybox

•Power Lead

•Hardware User Guide

•Teach Pendant User Guide

•Syringe Barrel Mounting Kit

•DB37 Connector

•TSR-VCABLE (not shown) connects robot to TS250, TS350 or TS500R

Inspect the unit for any damaged which may have occurred in transit. If such damage has occurred, notify the

carrier at once. Claim for damage must be made by the consignee to the carrier and should be reported to the

manufacturer.

2.4 Instructions about the Keypad - the keypad, on the robot face, can be used when the teaching pendant is

disconnected.

Caution: when connecting the teaching pendant with the main unit (robot), the buttons on the front panel

of the unit are invalid except START/PAUSE, FEED & ORG. If fitting with throttling valve to control

the movement of glue tube, the button FA↑ & FA↓ can be used.

Button

Function Description

X / X / Y / Y / Z / Z

Control the axis’ coordinate

【HOME】

Move the tip to the origin of the processing file, this can be set.

【SHF】

Switch point processing speed, 3 level: low, middle, high

【ENT】

Save the set parameters

【ORG】

Reset, move the tip to the zero point (0,0,0)

【LOOP】

Set the loop operating parameters

【ESC】

1. Return to file processing interface but not save the set parameters.

2. Enter into the testing interface, test the axis’s function

【FEED】

Control dispensing

【FA】

N/A

【FA】

N/A

Control the R axis’ coordinate

* With R axis type

【START/PAUSE】

Start or pause the processing file.

For Further functions and detailed use of the

buttons refer to the chapter 4 “off-line

operation instruction”.

2.5 Course of the File Processing

To complete a process file there needs to be three steps: program-adjust-process. For detailed operation refer

to the operation manual of the teaching pendant.

Program: The method of teaching a program. (Teach Pendant and/or Smart Robot Dispensing System)

Adjust: Adjusting the programming file, such as origin calibration, slant array, height adjusts, file

parameters adjust (including speed, acceleration, delay time, distance etc.)

Process: Download the program file to the system, from the teaching pendant.

The program is now complete and can be initiated.

3. SETUP AND CONNECTION

3.1 Setup

DB9 – connect with

7-pin socket

Power switch

Power socket

INPUT 2

4-pin socket.

Connect to keybox

OUPUT

7-pin socket. Connect

with controller (DB9)

Air inlet

Power socket

DB37 - Additional Outputs

INPUT 1

5-pin socket. Connect to

safety cover, photoelectric

switch or low fluid switch.

TSR2304 - Rear I/O Ports

Desired Valve Controller - Rear I/O Ports

Connecting air tubing: directly insert the air tube into the air connector, on the back of the controller.

Removing air tube: press down the connector head and then pull out the air tube, from the controller.

3.1.1 How to Connect a (TS250 or TS350) Syringe Dispenser with Interface Cable

Take the supplied TSR-VCABLE and connect the round female connector to the male “OUTPUT” connector

on the rear of the robot. Take the opposite end and connect the female 9 pin connector to the DB9 connector on the

rear of the TS250 or TS350 Series controllers.

3.1.2 How to Connect a (TS500R) Valve Controller with Interface Cable

Take the supplied TSR-VCABLE and connect the round female connector to the male “OUTPUT” connector

on the rear of the robot. Take the opposite end and connect the female 9 pin connector to the DB9 connector on the

rear of the TS500R controller.

3.1.3 How to Connect a (TS920) Jet Valve Controller with Interface Cable

Take the optional TSR-DJETCABLE and connect the round female connector to the male “OUTPUT”

connector on the rear of the robot. Take the opposite end and connect the male 26 pin connector to the rear of the

TS920, jet valve controller, marked I/O.

444

TS550R

Controller

TS9800 Jet

Controller

TS350

Dispenser

TS250

Dispenser

TSR-VCABLE – to connect to

TS250, TS350 and TS500R.

TSR-DJETCABLE – to

connect to TS920 jet controller.

3.1.4 Testing the Interface Connections

TS250, TS350, TS550R and TS980 with TSR-VCABLE and TSR-DJETCABLE – 1 Dispense Head in Use

TS250, TS350 and TS550R with TSR-VCABLE – Multiple Dispense Heads in Use

The TSR2000 Series robot is capable of operating up to 4 dispensers/controllers during a program. An optional cable

is made available for this function. Please contact Techon if this specialty cable is required. Follow the instructions,

below, to test the other available outputs.

Press 4

Press

Press 4

Press

By pressing button 1, the

controller will activate. If

the system is complete and

under pressure, fluid will

exit out of the dispense

outlet.

Press 1 to turn off output.

To go back to main screen,

press

multiple times.

Press 1 through 4 to turn

off outputs.

To go back to main

screen, press

multiple times

By pressing buttons 1

through 4, the dispensers/

controllers will activate. If

the systems are complete

and under pressure, fluid

will exit out of the

dispense outlets.

Legend:

Output not activated

Output activated

3.2 I/O Socket Instruction

3.2.1 Circuit Diagram of I/O Socket

Inside

3.2.2 Four Pin Socket “Pin Out” - the following list describes the pin function of the four-pin socket.

Four-pin socket

Pin No.

Pin name

Instruction of pins

Application

Min4

Main signal input 4

Now it’s used to connect to

“START/STOP” switch.

GND

Ground of power supply

Min1

Main signal inputting 1

Now used to reset (ORG) signal

Min2

Main signal inputting 2

Now used to connect emergency

stop switch

Note: *If a special function is required, the input and output signal can be set again.

3.2.3 Five Pin Socket “Pin Out”- the following list describes the pin function of the five-pin socket. The socket

can connect with a photo-electricity switch etc.

Five-pin socket

Pin No.

Pin name

Instruction of pins

Application

24VDC

“+” power supply

Output signal

GND

Ground of power supply

Min3

Main signal inputting 3

connect to sensor, such as

photoelectric switch

Ein13

External input 13

Used as alarm when

lacking fluid, etc.

Ein14

External input 14

Used as alarm when

lacking fluid, etc.

Note: *If a special function is required, the input and output signal can be set again.

3.2.4 Seven Pin Socket “Pin Out” - the following list describes the pins function of the seven-pin socket. By the

socket, it can control the external device.

Seven-pin socket

Pin No.

Pin name

Instruction of pins

Application

24V

“+” power supply

Output signal

GND

Ground of power supply

Mout1

Main signal output 1, the

current is less than 0.5A

Feeding signal

Mout4

Main signal output 4, the

current is less than 0.5A

Cylinder movement signal

Min1

Reset and return to the zero

position

Reset (ORG) signal

Mout2

Main signal output 2, the

current is less than 0.5A

Output working state signal

Mout5

Main signal output 5, the

current is less than 0.5A

Effective as pulse signal

inputted

Note: *If a special function is required, the input and output signal can be set again.

3.3 Instructions For DB37 Socket

Note: The DB37 socket is an optional fitting and must be ordered separately if required.

3.3.1 Pin Instruction of DB37

NO.

Interface

Definition DB37

Corresponding

I/O pins DB37

No.

Interface

Definition DB37

Corresponding

I/O pins DB37

GND

P01

GND

P20

Eout8

P02

Ein8

P21

Eout7

P03

Ein7

P22

Eout6

P04

Ein6

P23

Eout5

P05

Ein5

P24

Eout4

P06

Ein4

P25

Eout3

P07

Ein3

P26

Eout2

P08

Ein2

P27

Eout1

P09

Ein1

P28

COM

P10

GND

P29

GND

P11

Ein16

P30

Eout16

P12

Ein15

P31

Eout15

P13

Ein14

P32

Eout14

P14

Ein13

P33

Eout13

P15

Ein12

P34

Eout12

P16

Ein11

P35

Eout11

P17

Ein10

P36

Eout10

P18

Ein9

P37

Eout9

P19

(socket of DB37)

3.3.2 Circuit Diagram of DB37

3.4 Instruction of Input & Output

⚫The following input interfaces and output interfaces are corresponding to the signal pins which are defined as

“Min, Mout, Ein, Eout” at the above socket. It also corresponds to the interface at the “IO Test” display window.

⚫After setting, the function of IO interface can be tested at the “IO Test” display window.

⚫The interfaces, in the following table, can be set at the “Input Config” or “Output Config” of “System Config

2” of teaching pendant. It can define the special function for the following input & output interfaces which are

corresponding to the above sockets.

Connection of DB37 plug

3.4.1 IO Function Definition

1. In the “Input Config 2” displaying window, it can set the input interface: Min1~Min4 & Ein1-8 & Ein 09~Ein16.

Input Interface

Optional Function

Min1

--, Shortcut1, Origin BTN, Test input-L, Test input-H

Min2

--, Shortcut 2, Stop BTN, Test input-L, Test input-H

Min3

--, Shortcut 3, Start BTN, Test input-L, Test input-H, Lack fault, Block fault, Temp fault,

Temp\Feed fault, Upper CS, Nether CS

Min4

--, Shortcut 4, Foot BTN, Test input-L, Test input-H

Ein1~Ein8

--, Shortcut 5-259

Ein09

--, Origin BTN, Stop BTN, Start BTN, Foot BTN, Test input-L, Test input-H, Adj X-Limit,

Shortcut 260, Upper CS, Nether CS

Ein10

--, Origin BTN, Stop BTN, Start BTN, Foot BTN, Test input-L, Test input-H, Adj X-Limit,

Shortcut 261, Upper CS, Nether CS

Ein11

--, Origin BTN, Stop BTN, Start BTN, Foot BTN, Test input-L, Test input-H, Adj X-Limit,

Shortcut 262, Upper CS, Nether CS

Ein12

--, Origin BTN, Stop BTN, Start BTN, Foot BTN, Test input-L, Test input-H, Shortcut 263,