Quick Operations User Manual

28 Operation
Dispensing Operations
All dispensing operations take place in the workcell, also referred to as the dispensing area. The workcell
contains a robot and a fluid dispensing applicator mounted on the robot tool arm.
Robot Concepts
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.
Tool
A tool consists of a fluid dispensing applicator and nozzle.
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. For more
information, refer to the Century C-740/C-741 Installation, Operations and Maintenance Manual.
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.
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. For more information, refer to the
Century C-740/C-741 Installation, Operations and Maintenance Manual.
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. For more information, refer to the
Century C-740/C-741 Installation, Operations and Maintenance Manual.