User Manual

Appendix A- Instruction Quick Reference A-3
Tab Button Instruction Description
General
(Continued)
Terminate
Program
Ends program with error (returns False to Robot
Controller). Can be used to stop program. If this
instruction is executed during production, production will
be stopped with a "Coating program had error" message.
Add Fault
Use this instruction to add a clearable fault message to
the operator display. This instruction is typically used in
user-created error handling procedures, which have no
pre-programmed fault messages. The message will
appear in the Event Monitor and Fault Monitor.
Motion
Move
Relative
Moves the tool the specified X, Y, and Z distances from
current position.
Move Tool Moves a specified tool to a specified position.
Set Velocity
Sets the velocity for move instructions. Overrides the
ECW.INI file settings.
Set
Acceleration
Sets the acceleration for move and coating instructions.
Overrides the ECW.INI file settings.
Find Home
Causes the robot to perform a Find Home operation, and
leaves the robot at the Home position.
Set Outputs Sets digital outputs.
Rotate
Home
Rotates the tool to its origin. Only supported by Select
Coat 4 or 5-axis dispenser.
Rotate Tool
Rotates the tool in 90-degree increments. Only supported
by the Select Coat 4 or 5-axis dispenser.
Tilt Tool
Tilts the tool from 0 to 30 degrees. Only supported by
Select Coat 5-axis dispenser.
Needle Finder
Find Needle
Updates the needle offsets. This command is normally
done after a needle change so ECXP can learn the
position of the new needle.
Check
Needle
Checks if a needle has moved. This could be in a periodic
procedure to detect collisions with out-of-place
components or improperly loaded boards.
Camera and
Vision
Fiducial Adds a fiducial find instruction.
Robot
Send ACL Sends an ACL command to the Robot Controller.
Position
Verify
Sends the robot back to the home position to check its
position against the limit switches. If the limit switches are
not in the expected position, the error procedure named in
the instruction property is executed. If no error procedure
is specified, or the error procedure cannot be found,
production is stopped and an error message is displayed.
Errors are logged, along with the axis that failed. Use this
instruction to ensure precision dispensing, by inserting it
into a periodic procedure or at the end of a product
program.