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.
Turn dry-air valve counterclockwise half-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. |
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 |
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
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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 |
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 |
Teaching mode
in the Changing Mode
window from the Robot menu. Meca Initialize
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Glue deposition procedure
Program file name: Rachel_Hannah_StarAtArbAngle_CarbonFiberEdition
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}
You can view the complete list of programs using the drop down program menu in the Toolbar. Program numbers with names beginning "----" are actually empty. Those program numbers serve as visual dividers so that we can comment the program menu. |
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Configuration layer programs tell the glue dispensing robot where to dispense a particular glue pattern. The glue pattern itself is stored in other "painter" programs.
Program #6 is a blank program, serving as a visual divider between calibration-oriented programs and the Temporary Fixtures series (programs 7 and 8)
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Program #9 is a blank program, serving as a visual divider between the Temporary Fixtures dispensing series and the Full Ring dispensing series. Each member of the Full Ring dispensing series dispenses all triplets or quads on one side of the ring local support with pause. There are three programs:-
The positions populating the point data array come from the "Ring base plate and its coordinate system" documentation developed by Charlie and Scott. The order in each Full Ring dispensing series program corresponds to the module numbering they defined.
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Rather than dispense a full ring, we can dispense the ring one "wedge" at a time, dispensing glue for a set of modules mounted using a single bridge pick up tool. The "Ring base plate and its coordinate system" documentation developed by Charlie and Scott establishes the module numbering scheme. Scott confirmed the module set groupings over email in March 2021. The "Tag Code" entries in the point data array note the module number for which that point data entry dispenses glue. The relevant module numbers are also identified in the program names. Programs #19, 23, and 30 are intentionally blank programs, serving as visual dividers. The Ring Wedge programs come in three sets:-
When using these programs, you must use the full set to dispense all the triplets/quads for that side of the ring. For example, to load the ring with the tubes pointed up, I need to run either programs 10 and 11 from the Full Ring dispensing series or programs 20, 21, 22 (triplet wedges), 24, 25, 26, 27, and 28 (quad wedges) from the Ring Wedges series.
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Painters are all relative programs, designed to be called as sub-routines from calibration or configuration layer programs.
We reserve program numbers greater than 90 for testing and debugging purposes. Do not expect to use these during normal operations.