Table 1. Equipment Setup Items
ITEM | DESCRIPTION |
---|---|
Material Factor default: 1.00 min: 0.10 max: 10.00 |
This specifies the scale factor used in computing flow control (analog output). It can be changed as material viscosity and temperature changes. |
Flow Rate Bias default: 0.00 V min: -9.99 V max: 10.00 V |
This value will be added to the flow rate voltage while sealing. Most sealing equipment respond only in a linear fashion to voltages within a limited range, often 3 to 8 volts. Use Flow Rate Bias to help compensate for non-linearity in the sealing equipment flow rate response. Typical values of Flow Rate Bias are between 0.0 and 2.0 volts. To determine the appropriate value for your dispensing equipment, contact your dispensing equipment supplier or determine the value yourself by generating a voltage-in to sealant-out chart. Use the chart to find the flow rate bias by drawing a line through the region of the chart that has the most linear response. The point where this line crosses the voltage axis is the flow rate bias.
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Minimum Flow Command default: 0.00 V min: 0.00 V max: 10.00 V0 |
This specifies the minimum flow command voltage that will be sent to the dispensing equipment while sealing. If the requested flow rate specified in the current Seal Schedule ever goes below the Minimum Flow Command, the Minimum Flow Command will be sent to the dispensing equipment. |
Flow Command AOUT Type values: Volts, Current default: Volts |
This selects the type of analog output:
|
Style ID ack time-out default: 0 msec min: 0 max: 30,000 |
An error "SEAL-246 Style ID communication timeout (E%s)" will be posted if the dispenser does not raise the IN_PROCESS signal within the time specified by this item after Style_strobe output is turned on by the robot. |
Dispense Complete time-out default: 0 msec min: 0 max: 30,000 |
"SEAL-305 Dispense complete timeout (E%s)" will be posted if the dispenser does not turn off the IN_PROCESS signal with the time specified by this item after Dispense_Complete output is turned on by the robot. |
Fault Reset pulse width default: 300 msec min: 0 max: 3,000 |
This item specifies the pulse width of the "fault reset" signal from the robot to the dispenser. Fault reset will be automatically attempted when the robot detects the major fault signal on or the dispenser ready signal off before sending the style ID or before resuming a paused program. |
Fault Reset time-out default: 2000 msec min: 0 max:30,000 |
"SEAL-308 Fault Reset Timeout (E%s)" will be posted if the dispenser does not turn on the dispenser ready signal or if the dispenser does not turn off the major fault signal within the time specified by this item after the fault reset signal is asserted by the robot. NoteThe time-out error will not be posted if the robot is running dry (dispensing disabled).
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Rmt Start/Purge time-out default: 10,000 ms: min: 0 max: 30,000 |
At the beginning of a job, if dispenser ready DI is not ON, the robot initiates a remote start sequence by setting the Remote start digital output. If the dispenser ready input does not turn ON within this time, the following error is posted:“SEAL-314 Rmt Strt/Purge Request Timeout” |
Set Task OK upon recovery values: ENABLE, DISABLE default: ENABLE |
If enabled, the robot sets the Task OK signal on when you select one of the following error recovery options: Continue Weld/Wet or FastFaultRecovery. |
Bead shaping factor* default: 1.00 min: 0.01 max: 10.00 |
This specifies the global scale factor used in computing atomizing air. Changing this factor has an effect on all atomizing air values specified in sealing schedules. |
Bead shaping AOUT type* values: Volts, Current default: Volts |
This selects the type of the analog output:
|
Bead shaping max out* default: 10.00 V min: 0.00 V max: 10.00 V |
This sets the maximum analog voltage for atomizing air for the dispensing equipment. If the intended analog voltage exceeds this value, then an alarm will occur. Maximum voltage will not exceed this value. |
Use default ACC values: ENABLE, DISABLE default: DISABLE |
This item enables/disables the Default Acc feature. |
Default ACC default: 20 min: max: |
If Default Acc is enabled, the valued specified in this item will be used as Acc (acceleration) value for all motions that do not have the Acc modifier. If the Acc modifier is specified in the teach pendant program, the specified Acc value is used instead of the default Acc value. This feature allows the dispenser with slower response time to follow the flow command changes due to robot speed variation. |
User def recvry delay default: 0.00 msec min: max: |
This item adjusts the gun open timing when the gun is reopened after fast fault recovery. A positive value will open the gun earlier by the specified amount of time. |
Guns Used in Calibration default: INCOMPLETE min: 1 max: 6 |
This specifies the guns that DispenseTool will
use in equipment calibrations. Up to six guns can be used. Guns can be used
only if they have been defined during DispenseTool configuration. The Gun Selection for Calibrations item
displays the status of the six possible guns using a six-character expression.
The first character represents gun 1, the second character represents gun
2, the third character represents gun 3, and so on. If
a gun has not been defined, it is represented by a*. You
cannot change the value of a gun that has not been defined. If
a gun has been defined, you can specify whether it will be used
during calibration:
|
Meter Max Speed default: INCOMPLETE |
Refer to the Channel 2 Analog Control section of the application-specific Setup and Operations Manual for information on how to calibrate the meter maximum speed. |
Flow Rate Control |
Refer to the Maximum Analog Out (Meter)/Maximum Meter Speed Calibration section of the application-specific Setup and Operations Manual for information on how to calibrate the flow rate control. |
Channel 2 Analog |
Refer to the Channel 2 Analog Control section of the application-specific Setup and Operations Manual for information on how to calibrate the channel 2 analog. |
Bead shaping command * default: INCOMPLETE |
Refer to the Bead Shaping Air (Atomizing AIr) Calibration section of the application-specific Setup and Operations Manual for information on how to calibrate the bead shaping air pressure. |
Table 2. Maximum Analog Out (Meter)/Maximum Meter Speed Calibration Items
ITEM | DESCRIPTION |
---|---|
Calibration Status |
This item indicates whether maximum analog out (meter)/maximum meter speed calibration has been completed successfully. |
Home Program default: MOV_HOME |
This item indicates the program used to move the robot to the home position. You can specify the name of the home program. Refer to "Planning and Creating a Program" in this manual and in the SpotTool+ Setup and Operations Manual for information on how to create a home program. |
Purge Program default: MOV_PURG |
This item indicates the program used to move the robot to the purge position. You can specify the name of the purge program. Refer to "Planning and Creating a Program" in this manual and in the SpotTool+ Setup and Operations Manual for information on how to create a purge program. |
Maximum Voltage/ Maximum Speed default: 4.0 V/40 min: 0.0 V/0 % max: 10.0 V/100 % |
This item indicates the maximum voltage allowed from the analog output device. Maximum Voltage/Maximum Speed is set indirectly through the execution of this calibration procedure. |
Voltage Step/Speed Step default: 0.1 V/1 % min: 0.0 V/0 % max: 0.5 V/5 % |
This item indicates the voltage step to be used in the calibration. Refer to the beginning of this section for guidelines in setting the voltage step/speed step. |
Maximum Pressure* default: 2300 psi min: 0 psi max: 6000 psi |
This item indicates the maximum pressure that can be used when dispensing material. This item is set on the SETUP Equipment screen. |
Last Pressure* default: N/A min: 0 psi max: N/A |
This item indicates the material pressure the last time material was dispensed. |
Flow rate control calibration will lead you through a sequence of operations that will set up a scale factor for the current flow rate type. This calibration runs a sample program (MOV_SEAM, by default) and asks you to measure and enter the actual sealant dispensed. The robot uses this information to calculate the scale factor for the flow rate type.
Table 3. Flow Rate Control Calibration Items
ITEM | DESCRIPTION |
---|---|
Calibration Status |
This item displays the calibration completion status for the selected flow rate type.
|
Seal Schedule in MOV_SEAM value: 30 |
This item indicates the sealing schedule that must be used in the current sample program, which is MOV_SEAM in this case. The information in this sealing schedule will be used to calculate the scale factor for the flow rate type in the specified schedule. |
Flow Rate Type |
This item indicates the flow rate type that will be used in this calibration. You must set this to the flow rate type you are using in the calibration. Editing this item is the same as editing Flow rate type in the specified sealing schedule, which is sealing schedule 30 by default. |
Desired Flow Rate |
This item indicates the target flow rate that will be used for this calibration. Set this to the flow rate that will be used most often in your process. Editing this item is the same as editing Flow rate type in the specified sealing schedule, which is sealing schedule 30 by default. |
Sample Program default: MOV_SEAM |
This item indicates the program that will be run as part of this calibration. The sample program should dispense a simple seam at a steady speed so that you can measure the dispensing rate manually and enter the results into the robot. The sample program must use only SS[30] (where 30 is the number defined in the Seal sched used in MOV_SEAM item) to start sealing. No other SS should be used in this program. A default MOV_SEAM program is provided that includes the appropriate instructions. To use the default program, touch up the positions. |
Home Program default: MOV_HOME |
This item indicates the name of a program that moves the robot to the home position. When you perform this calibration, you have the option of running this program before and after you run the sample program, to ensure that the robot starts and ends the calibration at the home position. |
TCPP BW Scale Factor |
This item shows the result of the linear flow rate calibration. |
TCPP BW Sqr-scale Factor |
This item shows the result of the square flow rate calibration. |