Glue deposition

This is a step-by-step procedure to use the Nordson Robot in B33 to deposit SE4445 in the star pattern. This page supersedes the content at Building 33 - Setting up for gluing in the lab.

Step-by-step guide

Turn dry-air valve counterclockwise ¼ turn.
There should be a hissing noise from the air flow.

This dry air is used to control EFD and height gauge.
Turn EFD on
The screen will display a default menu.
The settings for SE4445 are preset 001 and make sure it is set on "steady".

To change the settings refer to Building 33 - Setting up for gluing in the lab for instructions.
Turn on glue robot.
The Itk account on the PC has the Janome Points software installed to control the robot.

The password is AtlasItkBox. For info about the itk-admin account contact Matthias Wittgen
Click on the desktop icon JR C-Points to start the program
If a window is shown - please select the following options to initialize the program :
- JR2500-N bullet
- z-axis control
- R-axis control (not ticked!)
- IO-A (not ticked)
Open the file Neha_2020Feb3_InnerRingx3.cpd it should be the most recent file select the program #

The program # is displayed on the right.

We are using the program #13 for the triplet in a row.
Note that the pallet routine is #22 (plane, with auto-increment)
Initialize the robot with Meca Initialize:

Verify that the z position is placed correctly by using the Tool option to verify the PTP point – hit Go and don't hit Register until you are sure about you want to update the xyz position.
To execute the program hit Send C&T data from the Robot menu.

Make sure that the Robot is set in Teaching mode in the Changing Mode window from the Robot menu.
Select Switch Run Mode in the Changing Mode window from the Robot menu.
Select the program # to execute from the Robot command buttons. It will be displayed on the LED.

Make sure to use the same # selected in point 7.
Push the green start button.

At any moment if any issue to terminate push the RED button
To repeat :
1. switch to Teaching mode in the Changing Mode window from the Robot menu.
2. made the proper changes to the program
3. restart from #9
To terminate - before you leave the station:
1. Bring the robot back in the original position with Meca Initialize
2. Shut down the robot
3. Shut down the EFT
4. Turn off the valve
5. Terminate the program
6. Shut down the screen only of the PC

A single JRC program file may contain many programs. A complete glue deposition program contains program data and a point data array specifying where to take actions. The actions themselves are encoded in point jobs. The confluence page Building 33: Programming and using the glue robot breaks down some key concepts. Further information is in the JR-C manuals, linked for download at {gotta upload them}

Program list & purposes

Program #1: Height touchdown calibration

View when opening program

The point data array has two "Height touchdown" point type entries.
Height touchdown is a custom point type, allowing us to set additional variables at the point data array level.
- Custom point types can also have base point jobs associated with them. Always check the custom point type information to learn how they work.
- Height touchdown carries a single additional variable, "Module Tybe Label." The type label signifies whether the touchdown point is for the quads or triplets baseplate.
This particular program is kind of special – we intend to use it only in the Jog Panel.
- You must be in Teaching Mode.
- Our objective is to store the Z coordinate when the syringe tip is in contact with the mounting baseplate.
- We calculate the dispensing height based on this touchdown height.
  - For the dispensing height calculation, see the Before Job ("BJob") for custom point type "DispensingStars" and Point Job #2, "Use Touchdown Z."

Use the Jog Panel to descend in Z (Jog panel icon on menu bar highlighted in yellow)

Select the relevant point number from the drop down menu in the Jog Panel.
- You actually only need to the height touchdown for the quad. We extracted the height difference between the quad and triplet temporary baseplates using a height gauge mounted on the XYZ robot arm. We account for this 14 mil difference in the dispensing height calculation.
Hit "Go" to send the robot directly to the XYZ coordinates entered in the point number of Program #1's point data array.
- Note that if you start with a higher Z value in the point data array entry, you will be closer to the baseplate surface at the end of this step. Be mindful that you do not collide with the surface.
Use the (-Z) and (+Z) buttons to approach the touchdown point carefully.
- You can use C and V on the keyboard if you prefer, as noted in the Jog Panel.
Touchdown: The syringe tip makes contact with the surface of the loading baseplate. At this point, secure/tighten the syringe in its holder. The syringe is ready!

When touched-down at desired Z and the syringe is secure, "register" your coordinates to Point Number 1 (Quad position).

"Register" is highlighted in yellow.
Once you've updated your coordinates using "register," exit the Jog Panel with "close."
Program #1 now holds the height at which your syringe contacts the baseplate surface!

Segment-send Program #1 Height touchdown calibration to teach the calibrated Z coordinate to the robot

You must be in Teaching Mode.
Robot > Send C&T data > Segment send
- Brings up the "Select data" menu.
- Checkmark Program #1.
- Hit "Send."
DispenseStars-based programs will automatically calculate their dispensing height based on the Z coordinate in Program #1, Point Data Array Entry #1 (aka, the Quads module type label entry).
- You can bypass this at any time by selecting "No" for the "Use Touchdown Z calibration?" option on DispenseStars point data array data points.

Program #1: Height touchdown calibration file

Program #2: Mass test

Space shortcuts

Child pages

Step-by-step guide

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