Instruction Manual
6-6 Operation
To reboot the Computer:
1. To reboot the computer, press the
Reset button on the front face of the computer.
2. The computer will turn OFF briefly and then back ON, as indicated by the power indicator.
! Read and act upon any screen prompts.
3. Restart ECXP by double-clicking the ECXP
icon
6.6 Dispensing Operations
All dispensing operations take place in a workcell. The workcell contains a robot and a fluid dispensing
applicator mounted on the robot tool arm.
6.6.1 Robot Concepts
6.6.1.1 Home
The home position of the robot is a known position within the workspace defined by X, Y, and Z
coordinates. It is generally located at the front left of the workcell.
6.6.1.2 Tool
A tool consists of a fluid dispensing applicator and nozzle.
6.6.1.3 Tool Offset
The tool offset is the X, Y, and Z distance from the robot's lower tooling pin to the tool tip (the end of the
nozzle). Robot position is calculated using the coordinates of the tooling pin plus the offset. Refer to
7.10 Robot Configuration to establish Tool Offsets.
6.6.1.4 Robot Motion
Robot moves are specified as coordinates on the X, Y or Z-axes. If a move combines motion in all three
axes, and the Robot Controller cannot move the robot in the Z-axis at the same time as the X and Y-axes,
then the move is performed (depending on the Safe Z Height setting) as follows:
• If the destination is higher than the starting point, the Z motion is performed first.
• If the destination is lower than the starting point, the Z motion is performed last.
6.6.1.5 Fixture
Fixture is defined as the location at which products are physically constrained in the workcell. It consists
of both a position (X, Y, Z) and a corner constraint. Refer to 7.7 Fixture Configuration.
6.6.1.6 Safe Z Height
This is the height below which the tool tip cannot go when moving from one set of coordinates to another
during operation. It prevents the tool tip from colliding with a board component, a fixture, or the
conveyor. The Safe Z Height is set in the ECXP program. Refer to 7.10 Robot Configuration to set the
Safe Z Height.