Double Y axis Desktop

Dispensing Robot

Operation Manual
(Handheld Box Edition) V7

1
 Table of Contents
1. Product Introduction.....………………………………………………………………………...3
1.1 Product Overview.......…………………………...……………..…………………………………………….3
1.2 Description of Function.......………………………………………………………..……………………….3
1.3 Features......………………………………………………………………………………..…………………..3
1.4 Product List.......…………………………………………………………………………...………………….4
2. Installation Dimensions….……………………………...…………………………………………. ………5
3. Key Note.....………………...…………………………………………………………………..…6
3.1 Handheld Box Key Figure………........…………………………..…………………………………..…...6
3.2 Handheld Box Key Description……........……………………………………..……………………….....7
4. Handheld Box Operation Description.........……………………………...……………..………8
4.1 Instruction of Boot Screen.……….......………………………………………………….……………..…8
4.2 Instruction of Functions of the Main Menu.………........…………………..…………………………11
4.3 New Functional Operation ………........……………………………………………..………….……….15
4.4 Inserting Command Operation ………........…………………………………………………………….24
4.5 Deletion Command Operation ………........…………………………………………………………….24
4.6 Copy Cmd ………........…………………………………………………………………………………….24
4.7 Array Copy ………........………………………………………………………………..………………….24
4.8 Offset Cmd .......…………………………………………………………………………….……………….25
4.9 Batch Modification .......……………………………………………………………………….…..……….25
4.10 Automatic Corner rounding..…………………………………………………………………………….26
4.11 Type Bulk Modification …………………………………………………………………………………26
4.12 System .…….......…………………………………...……………………………………………………26
4.13 Run Mode ………........………………………………………………………………….…..…………28
4.14 Reset Mode Operation………........…………………………………………………….……………….29
4.15 Set The Output.......…………………………………………………………………..…...……………….29
4.16 Default Parameters.......…………………………………………………………………………..……….30
4.17 Draw Edit.......………………………………………………………………………………………..…….31
418 Stop Location.......………………………………………………………………………………………….31
4.19 System Idle Move Speed.......…………………………………………………...……………………….31
4.20 Dispensing.......………………………………………………………………………………………….….32
4.21 Needle Alignment Operation.......…………………………………………..…………….……….…….32
4.22 “MARK” Needle Alignment Operation.......……………………………..…………….……….…….32
5. Notes.........………………………………………………………….……………………………33
5.1 Installation Matters.......…………………………………………………………………………………….33
5.2 Instruction of Common Problems and Troubleshooting.......…………………...…………………….34
6. Control panel function introduction.........……………………………...……………..……….35
7. Maintenance .........………………………………………………….…………………………36

2
1. Product Introduction
1.1 Product Overview
GR400S is the control system of intelligent dispenser with low cost, high concentration and high degree of
integration specialized for the industry of dispenser.

1.2 Description of Function

1. The handheld box adopts 320*240 high resolution color screen, full Chinese operation interface, it is easy to
use.
2. It has the painting point, straight line, multi line segment, three-dimensional arc (spatial arc), round, rectangular,
runway, coating, automatic corner rounding, irregular 3D spline curve and other graphical elements; rich
handmade teaching function and graphical preview function.
3. It has the conditional jump function, and the function of double MARK point rotation and needle alignment.
4. It has the function of breakpoint executive function, can be executed from the specified point.
5. It has the function of area array replication, migration operation, batch edit, single-step operation, I/O input and
output.
6. It has the automatic execution, automatic reset, output setting, processing time timer.
7. It has four kinds of wire drawing process as options, which can solve the problem of drawing process.
8. Manual teach for programming, automatic path optimization.
9. After action parameter editing is completed, through the serial port, download the action parameters to
controller, then it can independently run. Action parameter can also be saved to a handheld box’s SD card,
which is convenient to call; and it can make graphics copying and saving between the equipments.
10. The handheld box is equipped with 2G SD card which can store thousands of processing files, each file can
support 8000 instruction, you can bring up to use.
11. The hardware has 4 gun channels for control, 4 general outputs, 8 inputs, 12 high-speed pulse outputs; and the
accuracy of control of dispensing time is 1ms.
12. Each action command has independent glue opening delay, glue closing delay, gun retreat height, independent
function of glue closing in advance and flexible batch modification function can improve the editing
efficiency, and also can solve the problem of glue stacking.
13. Support batch modification of parameters according to the type.

1.3 Features
1.3.1 Controller hardware characteristics
The number of shaft of the motor: 3 shafts (XYZ)
Pulse frequency: 100K
IO port number: 8 dedicated inputs (XYZ origin point, start/pause, pause, reset/emergency stop button), 4 special
glue gun outputs (4 glue gun switch controls, direct drive solenoid valve, driving current of 2A). 4
general I/O outputs, 8 I/O inputa, 12 high-speed "NPN open collector circuit" 5-24VDC outputs,
rated current of 0.5A.
IO input type: optocoupler input.
3
Storage capacity: 16M
Interface mode: DB44 interface
Working voltage: 24V DC,
Working temperature: 70 ℃
Storage temperature: -40 ℃ -70 ℃
Working humidity: 40%-80%
Storage humidity: 0%-95%

1.3.2 Characteristics of handheld box hardware

Interface mode: equipped with USB interface and serial port, USB port is used for connecting a computer. Serial
port is used to connect a box.
Storage mode: configure the 2G SD card.
Display configuration: the resolution of 320*240, 3.2-inch color LCD screen.

1.4 Product List

Part name Type Number Introduction

Operating teaching
Handheld box Requisite 1
box

Controller Requisite 1 Motion controller

SD card Requisite 1 2G memory card

Data line Requisite 1 Connecting line

Wiring board Requisite 1 Wiring board

4
2.Installation Dimensions

98,3

φ5
75,63

100
86,3

74,3
29,1

5
3. Key Note
3.1 Handheld Box Key Figure

3.2 Handheld Box Key Description

Appearance graphic of
Name Function
buttons

Different pictures display different

Function key
operation keys.

Enter key for data, parameter change and

Confirmation key
preservation.

6
 XYZR direction key can control
forward, backward, leftward and
rightward, lifting and rotation motion of
Direction key four axes.
〈MOVE〉positioning key: used for
manual point positioning and the needle
alignment for the equipment.

Numeric and Letter, number and point input. "#"

alphanumeric key switches input method.

Start/download Download action command to the

Run key controller, start the machine.

Suspense the current operation of the

Pause key
Pause machine.

Reset key The device is reset to zero.

Reset

Multi-function Different images mean different

F1 key functions.

Multi-function Different images mean different

F2 key functions.

Multi-function Different images mean different

F3 key functions.

Multi-function Different images mean different

F4 key functions.
Clear the modified error parameter,
Clear key numerical value. Clear the documents
CLR
and instructions. Output cleared.

7
 Warning
When operating this hand-held box, you must insert and pull out
interface connnection wire when the power is disconnected, so as to
prevent the controller and hand-held box from being burned.

4. Handheld Box Operation Description

4.1 Instruction of Boot Screen
After power on, the handheld box automatically jumps to the boot screen - the current working menu, as shown
below:

Processing file: name of processing file;

Working state: refer to the current working state of the machine; divided into "stop, pause, running" state;
Working mode: refer to the operation mode of machine; divided into "manual operation, automatic cycle
operation" mode;
The quantity of processing: refer to the production completed by machine; when processing quantity= setting
production, then the machine has completed processing quantity, and stop;
Setting of production: refer to that the machine runs the default output yield;
Working speed: refer to the speed of the process of equipment running, namely the speed of track speed of gluing.
The speed is the percentage of the setting speed in command editing within the range of 0 ~ 100%; on this screen,
directly press the direction key "Y" keys to increase or decrease the percentage of working speed, press "Z" key to
increase or decrease the percentage of working speed with 10 as a unit. But it cannot modify operating speed in
real time manner, after the speed is changed, the next operation is effective.
X: refer to the current coordinate of X axis of machine;
Y: refer to the current coordinate of Y axis of machine;
Z: refer to the current coordinate of Z axis of machine;
F1~ F4: shortcuts.
Press "menu" into the "main menu" picture. See the 4.2.
Press "move" to directly move the devices; as shown in figure:

8
Press the "edit" into the instruction teaching dialog box:
1. When there is no file in the controller, press the "edit" to establish a new file; the system will automatically
prompt the following dialog box:

"Left function key" is Yes, "right function key" is No; after selection, the system will automatically pop up
file saving dialog box, enter the file name to save, then it will enter instruction teaching editing dialog box ("#"
button is the switching key for numbers and letters.), the instruction displayed by this picture can be automatically
saved under the file just input. As shown in figure:

In the command list dialog box, press the number key 1 ~ 5 to edit the corresponding graphical elements in
the picture, for more graphical selection, press the number key 6 to enter.
Select instruction 3 switch to change into Y2 platform .

9
2. When there is document in the controller, press the "edit" to enter the command list dialog box to modify and
edit the parameters. As shown in figure:

The "X" key of the left key of keyboard can jump to the first instruction of the current list, "X" key of the right
key of keyboard can jump to the last instruction of the current list;
The "Y" key of the upper key of keyboard can move upward the current instruction, the "Y" key of the lower
key of keyboard can move downward the current instruction; in the multiple choices, Y key is to select command
direction key.
The “Z” key of upper key of keyboard can flip to the previous page’s list of instructions, the “Z” key of lower
key can flip to the next page’s list of instructions;
The “R” key of upper key of keyboard can enlarge graphic display, the “R” key of lower key can zoom out the
graphics display;

CLR
" " key can clear the selected command in the list;
The keyboard’s "MOVE" key can directly edit and modify the selected command coordinates (located to the
selected command coordinates non-automatically);
The "#" key of keyboard is used for stitching operations on the selected point, after offset of needle alignment,
all instructions of the file should have the corresponding shift.

On this screen, F3 is used for selecting all instructions (i.e. select all), F4 is used for the choice of a certain
segment of instruction (i.e. multiple choice), with the cursor hint. Press the "operation" to take copying of
instruction, array copying, offset operation, batch editing, automatic corner rounding for the selected instruction.
1. Copy instructions: refer to copy the selected instruction;
2. Array copying: refer to the matrix copying of the selected command;
3. Offset operation: refer to the action command selected by offset, the numerical value specified by
coordinate offset;
4. Batch modification: refer to batch modification of a certain parameter, improve the editing efficiency
5. Automatic corner rounding: refer to the function of arc chamfering between the line segments, but only
limited to the multi-segment chamfering.

On this screen, when the cursor is to select only one instruction, then select "parameter editing" to enter the
following dialog box, you can modify the parameters for the current instruction, when change one or several
parameters, it will automatically pop up the "save" button, after saving, the parameter modification will be
successful. As shown in figure:

10
 "Wiring drawing process" is divided into "no wire drawing", "backward oblique drawing", "backward
drawing after lifting", "forward oblique drawing", "forward drawing after lifting". And direction key "Z" can be
used to switch.
When the cursor is to select two and more than two instructions (i.e. multiple choice or select all),
"parameter editing" will become "batch modification", you can take quick batch modification of the selected
multiple instructions. As shown in figure:

4.2 Instruction of Functions of the Main Menu

Press the menu button to enter the "main menu" screen, as shown below:

4.2.1 "Open file" menu

Refer to the existing motion file after opening the SD card; press “select or confirm” key to open the
currently selected list of files, as shown in the following figure:
11
 When select the file to be opened, it will prompt whether to download the program, "download" refers to that
the instruction file is downloaded to the controller. As shown in figure:

Select "Yes", after the download is completed, it will jump to the startup screen;
Select "No", it will jump to instruction list’s dialog box, it will show all the instructions in the document, as
shown in figure:

4.2.2 "New file" menu

Create a new file; press "OK" key, it will prompt "whether to reset device", after choose whether to reset, it
will prompt to save the file dialog box, after enter the file name, enter into the command edition dialog box, as
shown below:

12
 On the screen, it can be added with the demanded graphics command, press the number key 1 ~ 5 to edit the
corresponding graphical elements in the picture, for more graphical selection. Press the number key 6 to enter.
Operation is same with 4.1.

4.2.3 "Edit file" menu

To edit the file in the controller have been opened, the same with 4.1. As shown in fig.:

4.2.4 "Save file" menu

Save the opened file as another file, after enter the file name, press "OK" key, the file is saved successfully;
file name can be the number and English word, press "#" key to switch input method, as shown below:

13
4.2.5 "Delete file" menu
Delete the existing file name, press the "select" or "OK" button, then the files are deleted successfully; as shown
below: select the file name to be deleted, press the "select" or "OK", then the files can be deleted successfully.

4.2.6 "Data download" menu

Download the files to the controller of device; as shown below:

4.2.7 "Upload data" menu

To read the file from the device’s controller to handheld box;

4.2.8 "System" menu

The equipment parameters;
Including: the reset speed, maximum speed, acceleration, turning acceleration, user password, power-on
reset, X-axis pulse equivalent, Y-axis, Z-axis pulse equivalent pulse, X-axis stroke, Y-axis stroke,
Z-axis stroke, setting of direction of equipment origin, user parameters (manual acceleration, manual
speed, idle shift smoothness). See the 4.12

14
4.2.9 "Options" menu
Adjust the machine’s working mode;
Including: execution mode, reset mode, yield setting, default parameter, wire drawing process, stop position,
function of drop setting, idle shift speed;
See 4.13-4.20.

4.2.10 "Help" menu

The controller’s version and model, and IO port state of the detection controller, restore the default
parameter setting.

4.3 New Functional Operation

4.3.1 New "point"

15
 P o i nt

P o in t 1 Point 3

P o i nt 2
Point 4

Press the number key 1 for direct point coordinates teaching, the point coordinates can be moved through the
arrow key, "left X key"  X axis’ leftward shift, "right X key"  X axis’ right shift, "up Y key"  Y axis’
upward shift, "down Y key"Y axis’ downward shift, "up Z key"Z axis’ upward shift, "down Z key"Z axis’
downward shift, "up R key"R axis’ moving clockwise, "down R key"R axis’ moving counter clockwise. Press
"OK" key to add new instruction successfully. Quit teaching, directly press the "backspace" button, as shown in
fig.:

4.3.2 New "line"

line
starting point

end point

1. Press the number key 6 to enter more instruction selection of "straight line", enter the start and end point of line
edition;
2. Or press the number key 2, use multiple line segments to edit two endpoint coordinates of the line, and then
press the end, you also can accomplish linear editing.
Coordinate can be moved through the arrow key, "left X key"  X axis’ leftward shift, "right X key" X
16
axis’ right shift, "up Y key"Y axis’ upward shift, "down Y key"Y axis’ downward shift, "up Z key"Z axis’
upward shift, "down Z key"Z axis’ downward shift, "up R key"R axis’ moving clockwise, "down R key"R
axis’ moving counter clockwise. Press the “OK” key to edit the end coordinate, the method is same with editing of
"point" coordinate. As shown in fig.:

4.3.3 Add new "continuous line", also known as "multiple segment lines"
Example I:

Co nt i nu o u s li n e ( Or P ol yl i n e s )

po i nt 1 p oi n t 3

p oi n t 2

p oi n t 4
po in t 5

The continuous line (multiple line segments) is to use the straight line to connect the points together,
therefore editing of continuous line (multiple line segments) is editing of a series of point coordinates, press the
number key 2 to enter editing of multiple line segments, after specifying each endpoint coordinate, press "OK"
button or the number key "4", you add this point, after editing all points, click "finish" button to finish the
acquisition of endpoint.

Example II:

17
 Connect straight line and arc ( OR Polylines)
p o in t
p oi n t
p o i nt
Arc point p o in t
Arc point
Arc point

p oi n t
p o i nt

p oi n t

Any combination for “straight line” and “circle”,

Press the number key 2 to enter the editing of multiple line segements command, collect the endpoint or arc
point to complete editing of multiple line segments. After specifying each endpoint coordinate, press "OK" button
or press number key "4", you can add this endpoint; after specifying each arc point coordinate, press the number
key "6", you can add the arc point. (The middle point on the arc is the arc point, and the points on two ends of the
arc are the endpoint).

4.3.4 New "curve"

Three dimensional spline curve (OR Curve)

Point 1 Point 4

Point 3

Point 5
Point 2

Spline curve is to give a set of control points to get a curve, shape of curve is controlled by these points.
Acquisition of a series of points can describe the curve. So the curve edition is the edition of a series of point
coordinates, editing method is same with edition of "point" coordinates, after specifying each point, press "OK"
key, add this point, when you finish editing of all points, press "backspace" button to end acquisition of point.

4.3.5 New "circular arc" (namely 3D arc)

18
 Arc (OR Polylines)

starting point
（Point)

（arc point ）
end point
intermediate point
（Point ）

1. Press the number key 4 to enter into the arc command edition, firstly edit the coordinates of starting point of
circular arc, and then edit the coordinate of intermediate point of circular arc, finally edit the coordinate of
end point of circular arc, editing method is same with "point" edition.
2. Or press the number key 2, enter the editing of multiple line-segment command edition, firstly edit the endpoint
coordinates of arc, then edit the coordinate of arc point, finally edit the endpoint coordinates of the arc, (note that
the middle point on the arc is called the arc point, point on two ends of the arc is the endpoint). When edit the arc
with multiple line segments, the number key 4 is used for terminal switching, the number key 6 is used for arc
point switching.

4.3.6 New "standard circle"

Standard round

starting point
arc center

The first is to edit the center coordinate of arc, and then edit the starting point coordinates of circular arc, the
editing method is same with "point" editing method.

4.3.7 New "three-point circle", also known as the "full circle", namely 3D circle.

19
 Standard round

starting point
arc center

The first is to edit the starting point coordinate of arc, then edit the coordinate of intermediate point of
circular arc, finally edit the coordinate of end point of circular arc, editing method is same with that of "XY arc".
Edit the "starting point"-"intermediate point" - "endpoint".

4.3.8 New "horizontal ellipse"

Horizontal ellipse

Long axis point

Short axis point

The first is to edit the coordinates of long axis points of ellipse, and then edit the coordinates of short axis
points of ellipse, editing method is same with that of editing of point coordinates.

4.3.9 New "vertical ellipse"

Vertical ellipse

Short axis point

Long axis point

The first is to edit the coordinates of long axis points of ellipse, and then edit the coordinates of short axis
points of ellipse, editing method is same with that of editing of “horizontal ellipse”.
20
4.3.10 New "runway"（Run way)
Enter the length of the runway, and then enter the runway width, choose the direction of the runway (horizontal or
vertical),

Press “next” to edit the starting point coordinates of the "runway". Press "OK" button to complete the new runway
instruction.
Note: the position of starting point of the runway will vary with the origin position and direction of equipment
automatically.

4.3.11 New "rectangle"

The rectangle is divided into "rounded corner rectangle" and "right rectangular".
Enter the length of the rectangle, input the width of the rectangle, and then enter the rectangle radius;

Press "next" to edit coordinates of the start point of rectangle, press "OK" button to complete the instruction of
adding new rectangle;

When the "radius" is 0, the rectangle is the right rectangle.

Note: the starting point of the runway will automatically vary based on the origin position and direction of
different equipment.

4.3.12 New "spiral line"

The first is to input number of coil of spiral line, the distance between the coils, and then select the direction of the
spiral line;
21
Press "next" to edit start point coordinates of spiral line, and press "OK" to complete adding of new spiral
instruction.

4.3.13 New "round coating"(Circle line)

Input the radius length of outer diameter (radius from the circle center to the outer circle), input the radius
length of inner circle (radius from the circle center to the inner circle), and then enter the coil number of coating;
Press "next" to edit the start point coordinates of the circle center, press "OK" button to complete adding of
new rectangular coating instruction.

4.3.14 New "rectangular coating"(Rect Fill)

Enter the length of the rectangle, input the width of the rectangle, and then enter the coating spacing, select
the coating direction of priority to the X axis or Y axis;

Press "next" to edit the start point coordinates of rectangle, press "OK" button to complete adding of the new
rectangular coating instruction.
.

4.3.15 Annular
Input rectangle outside length , input rectangle outside width, and then input the pitch and number , press next to
edit the start point coordinates , press “OK” to complete adding annular.

22
4.3.16 Input and output
"Waiting for input": refer to wait for the specified port becomes low level, the program has been executed;
"I/0 on": refer to that in the implementation of this output command, switch on the specified IO port (low level
output);
"I/0 off": refer to that in the implementation of this output command, switch off the specified IO port (high level
output);

4.3.17 New "MARK"

"MARK" point is the marked point, for needle alignment for marking point on the tool. This function is
divided into: single MARK point needle alignment and double MARK point needle alignment;
①Single MARK point needle alignment:
The needle alignment point must be the first instruction of the instruction list. In the command list dialog box,
press the "6 more" to add the MARK point.
Editing of coordinate of this point is only used for the needle alignment operation, after download the
program, it does not perform this operation. In "boot screen" state, press "MOVE" key, the needle will
automatically point to the first instruction (i.e. marking point).
②Double MARK point needle alignment:
In the list of instructions, there is need to add two MARK points, try to choose two obvious marked points
with longer distance on the fixture as the MARK point, these two MARK points will automatically appear in the
first and second position in the list of commands (add these two MARK points before or after edit command), in
the command list dialog box, press the "6 more" to add the MARK point.
Editing of the coordinates of these two points is used only for needle alignment operation, after download the
program, it does not perform this operation. In the "boot screen" state, press "MOVE" key, the needle will point to
the first MARK point automatically, and pop up "whether Z axis will fall", please choose according to the actual
need, after position the coordinate, press OK, the needle will automatically point to the second MARK point,
operating is same with the operating method of the first MARK point.
Double MARK point positioning can correct the error due to error of workpiece’s placing angle and position.

4.3.18 New "idle instruction"(NOP)

"Idle instruction" is used for disconnection of the multi line segments. After editing of multiple line segments,
the system will automatically add idle instruction.
23
4.3.19 New "pass point"
"Pass point" is used for interpolation operation of the equipment to the designated point, only take action but
no glue dispensing.

4.3.20 New "delay"

"Delay" refer to the increased delay function between instructions.

4.3.21 New "pause"

"Pause" refers to the increased pause function between instructions, after pause, press the start button to
execute it again.

4.3.22 New "conditions"(If GOTO)

When the state of external IO port is consistent with the state of IO port set in condition, it will jump to the
specified number of rows to continue to run;
When the state of external IO port is inconsistent with the state of IO port set in condition, the conditional
instruction is invalid, the program will automatically run down;

4.3.23 New "jump"(GOTO)

Refer to jump to the specified program line.

4.3.24 Rinse
Extended function , not used on this system currently.

4.4 Inserting Command

"Insert command" refers to the insertion into the previous line of the selected command. Method is same
with the added instructions.

4.5 Deletion Command

CLR
In the "instruction list" dialog box, press the " " key in the keyboard, the current instruction can be
deleted. The F4 key can also delete multiple instructions,

4.6 Copy cmd

"Copy instruction" is used to copy the selected command, usually used for matrix copying. Y key is used to
select the single instruction to be copied, F3 is used to select all commands to be copied, F4 is used to select
multiple instructions to be copied.
After select the instruction to be copied, press the "operation" to enter into the "copy instruction" dialog box,
as shown in fig.:

24
 Method I: input the number you want to copy, if you know the spacing between the command coordinates to
be copied, you can directly input "X" "Y" "Z" coordinate spacing (i.e. spacing between coordinates), press "OK"
key, then replication is completed.
Method II: enter the number you want to copy, if you don’t know the spacing between the command
coordinates to be copied, you do not enter "X" "Y" "Z" coordinate spacing, and then press the "positioning" key,
the mobile device will be moved to the starting point of the last graphic to be copied through the arrow key, press
the "OK" button, the system will automatically calculate the distribution interval according to the spacing and
number to be copied.

4.7 Array Copy (Three-dimensional Array Copying)

Direction Y key is used to choose the single instruction to be copied, F3 is used to select all commands to be
copied, F4 is used to select multiple instructions to be copied. After choose the instruction to be copied, press the
"operation" to enter into "array copy" dialog box, as shown in fig.:

Method I: the input to array copy X number and Y number of direction, then press "MOVE" key to move to
X direction (that is the last point in A), press "confirm"; and then moved to the Y direction (that is the last point in
point B) confirm; can automatically calculate the distance. Must first enter the number of copies. Path: running
track selection.
Method two: input to X direction array copy number and Y number, and then enter the X direction and Y
direction spacing array copy spacing, and then select the path. Then click "OK" key array replication is complete.

25
4.8 offset CMD
"Offset" to offset the selected action command, the numerical coordinate offset specified.
Y to select to offset a single instruction, F3 to select all instructions to offset, F4 multiple instructions to choose
to offset. Choose to offset instructions, according to the "operation" to "offset" dialog box, as shown in fig.:

Method: input the data to be offset, press “OK” to complete the operation of offset.
Method II: when you do not know the specific data to be offset, you can also through the "positioning" key,
move the data to be offset. Press the "location" button, the device is moved to coordinate to offset by the direction
key, and then click "OK" to complete the offset.

4.9 Batch Modification

"Batch modification" is used for batch modification of a parameter, and improve the editing efficiency.
Specific operation is as follows: F3 is used to select all instructions, F4 is used to select multiple instructions.
Press the "batch modification" to enter into the dialog box:

Select the parameters to be modified- for modification, after modification, press "OK" button to complete
modification.

4.10 Automatic Corner Rounding

26
 "Automatic corner rounding" is used for automatic chamfering of the multi segments of line.
Operation method: in the instruction list dialog box, press the "operation" key to enter the "automatic corner
rounding", input "corner radius value", namely automatic chamfering of all line segments of this file.

4.11 Type Bulk Modification

"Type batch modification" is used for bulk change to the same instruction under a file. Such as batch
modification of all the "points" under a file.
Operation method: in the command list dialog box, when the cursor is pointing to a type, press the
"operation"- enter into "type batch modification", then take batch modification of the same types of instructions. If
batch modification for the "single point". The cursor is to point to any single point, into a parameter of “type batch
modification", under this document, all the "single points" receive the modification of parameters.

4.12 System
“Device parameter” is to set the pulse equivalent of each axis of the equipment, such travel range, speed
back to the origin, acceleration and other parameters;
Press the "system" to pop-up password dialog box, password: 1234, as shown in figure:

4.12.1 Device parameters

Enter a password to enter the equipment parameter dialog box, as shown in fig.:

"Reset speed": refer to the speed of equipment in resetting, press numerical key to input speed, ranging from 10 to
100, the unit mm/s.
"Maximum speed": refer to limit the maximum operating speed of device, press the number key to input, usually
500, unit mm/s.
27
"Acceleration": refer to the acceleration of device, press the number key to input, usually around 2000, unit
mm/s2.
"Turning acceleration" :refer to the equipment’s turning acceleration press the number key to input, usually set as
1 ~ 5 times of the acceleration, the unit mm/s2.
"Password": password to enter the system, number key is effective, save to set the password successfully.
"Power-on reset" refers to the axial channel of device reset, press the direction key X for selection.
"Manual acceleration": refer to the acceleration in manual moving of equipment, the unit mm/s2; usually set
within 500 ~ 3000;
"Manual speed": refer to the speed in manual moving of device, unit mm/s, usually set within 10~100;
"Idle shift smoothness": refer to the transition radius of arc in idle shift, the unit mm, usually set within 0 ~ 50;

4.12.2 Pulse equivalent and stroke

"Stroke": refer to the equipment’s actual working stroke, unit mm;

"Pulse equivalent" refers to range-height of moving of a pulse device, the unit mm; see the pulse equivalent
software calculator;

4.12.3 Setting of equipment toward the origin

"Setting of equipment toward the origin": set the origin point according to the origin point of machine, the purpose
is to let the handheld box’s direction key consistent with direction of machine moving,
which is convenient for teaching of operation, as shown in fig.:

4.13 Run Mode

28
"Run mode" is used to set the automatic working mode or a manual mode of operation. Automatic execution mode
is that all action instructions are executed, delay the time specified, and then make the automatic
execution. The manual mode is that after executing all instructions, stop it, if you want to continue
to start, you need to press the start button.
"Run mode" is in the "options" dialog box, as shown in Figure: when select "manual", it is the manual mode,
when select "automatic", it is the automatic mode. After set it to "automatic" mode, the first is to
start manually. Note: let the device reset in changing the execution mode. Don't change the way of
execution in the working process of the equipment.
"Interval time" refers to the specified time of delay, effective in "automatic" mode.
"Run Origon" refers to whether to execute action after retreat the gun to the origin point of Z axis before
executing the first instruction.

4.14 Reset Mode Operation

"Reset mode" is used for setting whether device is to automatically reset after all instruction are executed,
guarantee the absolute position of coordinate of zero, in order to eliminate the equipment’s lost step
to cause dislocation.
"Reset mode" is in the "options" dialog box, the first is to input reset coordinates (close to the approximate
coordinate value of the origin coordinate), usually 1 ~ 2mm, and then input reset speed, reset
number refers to after how many operations of the equipment, there is need to reset (when the reset
number is 0, the equipment will not automatically reset), press "OK" key to complete the reset
setting.
This action refers to that after equipment operation, and runs to the reset coordinate at the reset speed, return to the
point of origin.
Note: when change the way of reset of equipment, it is required to make the device reset. Don't change the way of
reset in the working process of the equipment.

29
4.15 Set the output
"Set the output" is used for setting frequency of working, namely (yield), when the output reaches the expected
production, the equipment will stop working. And it will prompt that the yield has been completed.
When the expected production is set to 0, the frequency will be unlimited, and it will not stop
because of production.
When the completion of production causes equipment downtime, the yield will be directly cleared, which is used
to remove yield counter inside the equipment. Otherwise it will have been accumulated, even if
the replacement of different product directive, the counter will not be reset.

4.16 Default Parameters

“Default parameters” is used for setting the default parameter of some movement instructions, when the "new
add" and "insert" takes action, we determine the coordinate data, while other parameters are
derived from the default parameters.
"Default parameter" is set in the "option" dialog box, as shown in fig.:

30
"Glue gun channel": refer to the channel to control the glue gun;
"Speed": refer to the speed of operation;
"ON delay": refer to the delay time of glue after opening the glue gun;
"OFF delay ": refer to the delay time of closing after closing gun;
"Uplift ": refer to the position of gun retreat;
"Clsahead": effective for the straight line, arc, circle, ellipse and other instructions, refer to the distance for closing
gun in advance when getting close to the opening end, in order to prevent the local stacking of
glue;
"Draw Edit": refer to the wire drawing process after the end of the glue painting of glue gun, this system has "no
drawing", "backward oblique drawing", "backward drawing after lifting", "forward oblique drawing" and
"forward drawing after lifting" for selection.

4.17 Draw Edit

" Draw Edit” is used for setting the default parameter of wire drawing, when there is instruction of wire drawing
process, the first is to set the "wire drawing process parameter”, or "wire drawing process" is
invalid.

4.18 Stop Location

Used to set the stop position after equipment operation.
31
4.19 System Idle Move Speed
The speed of idle shift of equipment without output of glue, set the speed of idle shift of XY axis and Z axis
within the range of 0~1000mm/s. To change the idle shift speed, enter the value directly.

4.20 Dispensing
Refers to that if the equipment does not work for long time, the glue solidification head may block the
needle, after setting parameter, it can automatically drop glue to prevent glue solidification and
plugging needle.

32
"Dropping enabling": refer to whether to start this function;
"Drop cycle": time cycle of glue output when specifying;
"Time of glue output": refer to the output amount of glue each time;
"X axis": the X coordinate of drops;
"Y axis": the Y coordinate of drops;
"Z axis": the Z coordinate of drops;

4.21 Needle Alignment Operation

Needle alignment function: (after changing needles or replacing the fixture, coordinate offset to the align to
the coordinates)
1. Align needle with the first instruction as benchmark: in the boot screen, directly press
"location/movement" button, and then press the direction key to align needle, after alignment
of glue gun, press the OK button to complete the alignment, so that all the instructions have
the corresponding offset.
2. Align needle with the any instruction as benchmark: in the "list of instructions namely graphical preview"
screen, select the instruction for needle alignment, press "#" button to start the needle
alignment, after needle alignment of glue gun, press the OK button to complete the needle
alignment, so that all the instructions have the corresponding offset.

4.22 “MARK”Needle Alignment Operation

"MARK" point is the marked point, for needle alignment for marking point on the tool. This function is
divided into: single MARK point needle alignment and double MARK point needle alignment;
①Single MARK point needle alignment:
The needle alignment point must be the first instruction of the instruction list. In the command list dialog box,
press the "6 more" to add the MARK point.
Editing of coordinate of this point is only used for the needle alignment operation, after download the
program, it does not perform this operation. In "boot screen" state, press "MOVE" key, the needle will
automatically point to the first instruction (i.e. marking point).
②Double MARK point needle alignment:
In the list of instructions, there is need to add two MARK points, try to choose two obvious marked points
with longer distance on the fixture as the MARK point, these two MARK points will automatically appear in the
first and second position in the list of commands (add these two MARK points before or after edit command), in
the command list dialog box, press the "6 more" to add the MARK point.
Editing of the coordinates of these two points is used only for needle alignment operation, after download the
program, it does not perform this operation. In the "boot screen" state, press "MOVE" key, the needle will point to
the first MARK point automatically, and pop up "whether Z axis will fall", please choose according to the actual
need, after position the coordinate, press OK, the needle will automatically point to the second MARK point,
operating is same with the operating method of the first MARK point.
Double MARK point positioning can correct the error due to error of workpiece’s placing angle and position.

5. Notes
5.1 Installation Matters

33
 1. Check whether the controller is intact;

2. Check whether the DB44 pin socket is complete;

3. After connecting the hardware according to the wiring diagram, before electrifying, check the power supply
voltage is not higher than 24V;

4. After electrifying, the equipment will firstly perform the reset action; action sequence is as follows:

①The Z axis should move to the direction of origin, if the opposite direction (if it is stepping system,
exchange any group of A, A- or B, B- of motor line, if the servo system, there is need to change the direction of
the servo drive), when there is induction to switch of the Z axis origin, Z axis stops.

②The X, Y axis starts to move at the same time, moving to the direction of the origin, if the opposite direction
(same treatment in Z shaft reverse direction), when a certain axis induces the origin switch, the corresponding
shaft will stop moving.

③When all axes induce the sensor, reset operation completes.

5. Use the handheld box to set the origin of equipment, method: in the menu item "options"->"equipment origin"
enter "device origin position" dialog box, please set according to the actual origin position. The parameter is
stored in the handheld box.

This equipment installation is basically completed. The actual testing also needs to connect the gas path system
for comprehensive debugging.

5.2 Instruction of Common Problems and Troubleshooting

Notes on frequent
Troubleshooting
problems

a) Check whether the power supply is normal;

1. the system is not to
b) Check whether the drive is normal;
reset
c) Check whether the state of sensor is normal;

34
 a) Check whether the serial port cable is damaged;

2. Communication is b) Check whether the device completes the reset action;

not normal
c) When the equipment is working properly, it only responses part of
command "reset", "pause", other commands are not responsed.

a) Firstly check whether production has been completed, connect the

handheld box to see, if production is completed, clear the yield;

b) Check whether the start button is normal, you can use handheld box
to control the equipment to start, to eliminate this failure;
3
c) If the handheld box does not start, upload instruction from the
3. The equipment can't
start controller with a hand-held box to check there is instruction in the
controller;

d) Check whether the device is authorized, when connecting with the

handheld box, press the "start" button, pop-up the registered dialog
box, the equipment is not authorized to use;

6. Control panel function introduction

6.1 Control panel :

Pressure gauge 1: Glue feeding pressure of Valve 1

Pressure gauge 2: Glue feeding pressure of Valve 2 , only for double head dispensing system .
Pressure knob 1: Glue feeding pressure adjusting knob
Pressure knob 2: Glue feeding pressrue adjusting knob ,only for double head dispensing system.
Point move1 :manual dispense glue for valve 1
Point move2: manual dispense glue for valve 2 , only for double head dispensing system .
35
Start/Pause: Start /pause production
Resume: Reset machine
Stop : Stop production
Auto : Open or close valve , press down the button and start machine , it will start production dispensing glue .
Release the button , it will run the route without dispensing glue .

7. Maintenance
Items frequency Maintenance Guide

Surface of the device Daily Clean the surface of the device to remove dust and dirt.

Clean dispensing Daily Clean the dispensing head to prevent clogging by residue fluid and/or crystals.

head
1. Remove the X and Y axes dust plates, remove the balancing springs of the Z-axis.

2. Lubricating linear guide rails

• Use non-lead cotton cloth to remove the old lubricant and dirt from the rails.

• Apply lubricant on the both sides of all linear guide rails.

• Move the moving plates back and forth at least four times in order to evenly

Lubricating Quarterly distribute the lubricant on the linear rails.

• Wipe off excessive lubricant with a cotton cloth.

3. Reassemble X, Y and Z axes dust plates.

• Move the moving plates back and forth twice and place them at the middle of

each travel ranges.

• Place back the dust plates and tighten with screws.

36