Nordson EFD E2V, EV, E5V, E4V, E3V Operating Manual

EV Series Automated Dispensing Systems

Operating Manual

™

Electronic pdf les of Nordson EFD
manuals are also available at
www.nordsonefd.com

EV Series Automated Dispensing Systems

You have selected a reliable, high-quality dispensing system from Nordson EFD, the world leader in
uid dispensing. Nordson EFD automated dispensing systems are designed specically for industrial
dispensing and will provide you with years of trouble-free, productive service.

This manual will help you maximize the usefulness of your automated dispensing system.

Please spend a few minutes to become familiar with the controls and features. Follow our recommended
testing procedures. Review the helpful information we have included, which is based on more than
50years of industrial dispensing experience.

Most questions you will have are answered in this manual. However, if you need assistance, please do
not hesitate to contact EFD or your authorized EFD distributor. Detailed contact information is provided
on the last page of this document.

The Nordson EFD Pledge

Thank You!

You have just purchased the world’s nest precision dispensing equipment.

I want you to know that all of us at Nordson EFD value your business and will do everything in our power
to make you a satised customer.

If at any time you are not fully satised with our equipment or the support provided by your Nordson
EFD Product Application Specialist, please contact me personally at 800.556.3484 (US), 401.431.7000
(outside US), or [e-mail].

I guarantee that we will resolve any problems to your satisfaction.

Thanks again for choosing Nordson EFD.

Srini Subramanian

Srini Subramanian, General Manager

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2

EV Series Automated Dispensing Systems

Contents

Contents ..........................................................................................................................................................................3

Introduction .....................................................................................................................................................................5

Nordson EFD Product Safety Statement ........................................................................................................................6

Halogenated Hydrocarbon Solvent Hazards ...............................................................................................................7

High Pressure Fluids ....................................................................................................................................................7

Qualied Personnel ......................................................................................................................................................7

Intended Use ...............................................................................................................................................................8

Regulations and Approvals ..........................................................................................................................................8

Personal Safety ............................................................................................................................................................8

Fire Safety ....................................................................................................................................................................9

Preventive Maintenance ..............................................................................................................................................9

Important Disposable Component Safety Information ..............................................................................................10

Action in the Event of a Malfunction ..........................................................................................................................10

Disposal .....................................................................................................................................................................10

Equipment-Specic Safety Information .....................................................................................................................11

Specications ................................................................................................................................................................12

Operating Features ........................................................................................................................................................13

EV Series System Component Identication .............................................................................................................13

EV Front Panel ........................................................................................................................................................14

EV Back Panel ........................................................................................................................................................14

Camera ......................................................................................................................................................................15

Joystick ......................................................................................................................................................................15

Installation .....................................................................................................................................................................16

Unpack the System Components ..............................................................................................................................16

Position the Robot and Install and Connect Components ........................................................................................17

Check the Camera and Dispenser Installation ..........................................................................................................19

Prepare the Work Surface or Fixture Plate ................................................................................................................20

Connect Inputs / Outputs (Optional) ..........................................................................................................................20

Power On the System ................................................................................................................................................21

Concepts .......................................................................................................................................................................22

About Programs and Commands ..............................................................................................................................22

About Offsets .............................................................................................................................................................23

About Marks ..............................................................................................................................................................24

Overview of the DispenseMotion Software ...................................................................................................................25

Primary View Screen and Tab Bar .............................................................................................................................26

Secondary View Screen .............................................................................................................................................27

Horizontal and Vertical Toolbar Icons ........................................................................................................................28

Setup and Dispense Command Icons .......................................................................................................................29

Navigation and Jogging Window ...............................................................................................................................30

System Setup Screen ................................................................................................................................................31

Camera Screen, Tab Bar, and Icons ..........................................................................................................................32

Camera Setup Screen ...............................................................................................................................................33

Keypad .......................................................................................................................................................................33

Continued on next page

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3

EV Series Automated Dispensing Systems

Contents (continued)

Setup .............................................................................................................................................................................34

Setting System Parameters .......................................................................................................................................34

Restoring the System to the Factory Default Settings ..............................................................................................36

Setting Password Protection .....................................................................................................................................36

Setting Up and Calibrating the System (Required) ....................................................................................................37

Verifying the Robot Model and Tip Detector Selection ..........................................................................................37

(Only EV Systems With a Tip Detector) Setting Up the Tip Detector .....................................................................38

Focusing and Calibrating the Camera ...................................................................................................................39

Setting the Camera-to-Tip Offset ...........................................................................................................................41

Setting the Tip-to-Workpiece Offset (Z Clearance) Using the Camera Focus .......................................................43

Testing the System Setup and Calibration .............................................................................................................44

How the System Responds to Needle Z Detect or Needle XY Adjust ...................................................................44

Setting Up Inputs / Outputs .......................................................................................................................................45

Conguring Input / Outputs for a Special Purpose ...................................................................................................45

Setting How the System Responds When a Mark is Absent (Optional) ....................................................................46

Setting How the System Finds Marks (Optional) .......................................................................................................46

Setting How the System Captures Z Height Values (Optional) ..................................................................................47

Programming .................................................................................................................................................................48

How to Automatically Update Offsets .......................................................................................................................48

How to Create and Run a Program ...........................................................................................................................49

How to Lock or Unlock a Program ............................................................................................................................50

How to Measure a Path or Circle on a Workpiece .....................................................................................................50

How to Create Patterns .............................................................................................................................................51

Dispense Dot Sample Program ..............................................................................................................................51

Lines and Arcs Sample Program ............................................................................................................................51

Circle Sample Program ..........................................................................................................................................52

How to Use the Example Icon ...................................................................................................................................52

How to Create a Mark ................................................................................................................................................53

How to Use Marks or Fiducial Marks in a Program ...................................................................................................54

How to Dispense on Multiple Workpieces in an Array ...............................................................................................55

How to Disable Dispensing for Specic Workpieces in an Array ..............................................................................56

How to Set Up Auto Purge, Program Cycle Limits, or Fluid Working Life Limits ......................................................57

How to Use Point Offset to Adjust All Points in a Program .......................................................................................58

Operation .......................................................................................................................................................................59

Starting the System and Running a Program ............................................................................................................59

Running a Program by Scanning a QR Code ............................................................................................................60

Pausing During a Dispense Cycle..............................................................................................................................60

Purging the System ...................................................................................................................................................60

Shutting Down the System ........................................................................................................................................60

Accessories ...................................................................................................................................................................61

Pre-Congured Output Cables ..................................................................................................................................61

Fixture Plates .............................................................................................................................................................61

Start / Stop Box .........................................................................................................................................................61

Tip Detector ...............................................................................................................................................................61

Height Sensor ............................................................................................................................................................62

Mounting Brackets ....................................................................................................................................................62

Technical Data ...............................................................................................................................................................63

Dimensions ................................................................................................................................................................63

Mounting Hole Template ............................................................................................................................................63

Wiring Diagrams ........................................................................................................................................................64

Dispenser Port .......................................................................................................................................................64

Ext. Control Port .....................................................................................................................................................64

I/O Port ...................................................................................................................................................................65

Example Input / Output Connections .....................................................................................................................66

Continued on next page

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4

EV Series Automated Dispensing Systems

Contents (continued)

Appendix A, Command Function Reference .................................................................................................................67

Appendix B, DXF File Import .........................................................................................................................................84

Overview of the DXF Screen ......................................................................................................................................84

Setting DXF Import Preferences ................................................................................................................................85

Importing a DXF File ..................................................................................................................................................86

Appendix C, QR Code Scanning Setup ........................................................................................................................89

Appendix D, Multi-Needle Setup and Use ....................................................................................................................92

Appendix E, Height Sensor Setup and Use ..................................................................................................................97

Appendix F, I/O Pin Function Setup ............................................................................................................................101

Introduction

This manual provides installation, setup, programming, operation, and service information for all components of a
Nordson EFD EV Series automated dispensing system. Nordson EFD’s automated dispensing systems dispense
uid in a preprogrammed pattern onto a workpiece. They are specically designed and congured for use with
Nordson EFD industrial syringe barrel and valve systems. Automated dispensing systems offer the exibility of
working either as a stand-alone system or as a key part of an automated solution and are easily integrated into in­line transfer systems, rotary tables, and pallet assembly lines.

™

The primary components of an automated dispensing system are the DispenseMotion
dispensing system components. The robot executes a computer program to dispense uid in a specic pattern onto
a workpiece. Programs are created using the DispenseMotion software installed on the DispenseMotion controller.
The dispensing system may be contact or non-contact, with material being dispensed through either a dispensing
tip or nozzle. For the purposes of this manual, “dispensing tip” refers to either a tip or a nozzle.

Using the precision-vision camera, the robot can automatically adjust the dispensing program for each workpiece,
allowing for variations in the workpiece position or orientation. To accomplish this, the software compares the
current workpiece location to within +/- 2.5 mm (0.098") of a reference location that is stored as an image le (called
a mark le) in the program. If the robot detects a difference in the X and Y positions and/or the angle of rotation of
the workpiece, it adjusts the dispensing path to correct for the difference.

controller, the robot, and the

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EV Series Automated Dispensing Systems

Nordson EFD Product Safety Statement

WARNING

The safety message that follows has a WARNING level hazard.

Failure to comply could result in death or serious injury.

ELECTRIC SHOCK

Risk of electric shock. Disconnect power before removing covers and/or disconnect, lock out, and
tag switches before servicing electrical equipment. If you receive even a slight electrical shock, shut
down all equipment immediately. Do not restart the equipment until the problem has been identied
and corrected.

CAUTION

The safety messages that follow have a CAUTION level hazard.

Failure to comply may result in minor or moderate injury.

READ MANUAL

Read manual for proper use of this equipment. Follow all safety instructions. Task- and equipment­specic warnings, cautions, and instructions are included in equipment documentation where
appropriate. Make sure these instructions and all other equipment documents are accessible to
persons operating or servicing equipment.

MAXIMUM AIR PRESSURE

Unless otherwise noted in the product manual, the maximum air input pressure is 7.0 bar (100 psi).
Excessive air input pressure may damage the equipment. Air input pressure is intended to be applied
through an external air pressure regulator rated for 0 to 7.0 bar (0 to 100 psi).

RELEASE PRESSURE

Release hydraulic and pneumatic pressure before opening, adjusting, or servicing pressurized
systems or components.

BURNS

Hot surfaces! Avoid contact with the hot metal surfaces of heated components. If contact can not be
avoided, wear heat-protective gloves and clothing when working around heated equipment. Failure
to avoid contact with hot metal surfaces can result in personal injury.

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EV Series Automated Dispensing Systems

Nordson EFD Product Safety Statement (continued)

Halogenated Hydrocarbon Solvent Hazards

Do not use halogenated hydrocarbon solvents in a pressurized system that contains aluminum components.
Under pressure, these solvents can react with aluminum and explode, causing injury, death, or property damage.
Halogenated hydrocarbon solvents contain one or more of the following elements.

Element Symbol Prefix
Fluorine F “Fluoro-”
Chlorine Cl “Chloro-”
Bromine Br “Bromo-”
Iodine I “Iodo-”

Check the Safety Data Sheet (SDS) or contact your material supplier for more information. If you must use
halogenated hydrocarbon solvents, contact your EFD representative for compatible EFD components.

High Pressure Fluids

High pressure uids, unless they are safely contained, are extremely hazardous. Always release uid pressure before
adjusting or servicing high pressure equipment. A jet of high pressure uid can cut like a knife and cause serious
bodily injury, amputation, or death. Fluids penetrating the skin can also cause toxic poisoning.

WARNING

Any injury caused by high pressure liquid can be serious. If you are injured or even suspect an injury:

• Go to an emergency room immediately.

• Tell the doctor that you suspect an injection injury.

• Show the doctor the following note.

• Tell the doctor what kind of material you were dispensing.

Medical Alert — Airless Spray Wounds: Note to Physician

Injection in the skin is a serious traumatic injury. It is important to treat the injury surgically as soon as possible. Do
not delay treatment to research toxicity. Toxicity is a concern with some exotic coatings injected directly into the
bloodstream.

Qualified Personnel

Equipment owners are responsible for making sure that EFD equipment is installed, operated, and serviced by
qualied personnel. Qualied personnel are those employees or contractors who are trained to safely perform
their assigned tasks. They are familiar with all relevant safety rules and regulations and are physically capable of
performing their assigned tasks.

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7

EV Series Automated Dispensing Systems

Nordson EFD Product Safety Statement (continued)

Intended Use

Use of EFD equipment in ways other than those described in the documentation supplied with the equipment may
result in injury to persons or damage to property. Some examples of unintended use of equipment include:

• Using incompatible materials.

• Making unauthorized modications.

• Removing or bypassing safety guards or interlocks.

• Using incompatible or damaged parts.

• Using unapproved auxiliary equipment.

• Operating equipment in excess of maximum ratings.

• Operating equipment in an explosive atmosphere.

Regulations and Approvals

Make sure all equipment is rated and approved for the environment in which it is used. Any approvals obtained for
Nordson EFD equipment will be voided if instructions for installation, operation, and service are not followed. If the
equipment is used in a manner not specied by Nordson EFD, the protection provided by the equipment may be
impaired.

Personal Safety

To prevent injury, follow these instructions:

• Do not operate or service equipment unless you are qualied.

• Do not operate equipment unless safety guards, doors, and covers are intact and automatic interlocks are

operating properly. Do not bypass or disarm any safety devices.

• Keep clear of moving equipment. Before adjusting or servicing moving equipment, shut off the power supply

and wait until the equipment comes to a complete stop. Lock out power and secure the equipment to prevent

unexpected movement.

• Make sure spray areas and other work areas are adequately ventilated.

• When using a syringe barrel, always keep the dispensing end of the tip pointing towards the work and away

from the body or face. Store syringe barrels with the tip pointing down when they are not in use.

• Obtain and read the Safety Data Sheet (SDS) for all materials used. Follow the manufacturer’s instructions for

safe handling and use of materials and use recommended personal protection devices.

• Be aware of less-obvious dangers in the workplace that often cannot be completely eliminated, such as hot

surfaces, sharp edges, energized electrical circuits, and moving parts that cannot be enclosed or otherwise

guarded for practical reasons.

• Know where emergency stop buttons, shutoff valves, and re extinguishers are located.

• Wear hearing protection to protect against hearing loss that can be caused by exposure to vacuum exhaust port

noise over long periods of time.

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EV Series Automated Dispensing Systems

Nordson EFD Product Safety Statement (continued)

Fire Safety

To prevent a re or explosion, follow these instructions:

• Shut down all equipment immediately if you notice static sparking or arcing. Do not restart the equipment until

the cause has been identied and corrected.

• Do not smoke, weld, grind, or use open ames where ammable materials are being used or stored.

• Do not heat materials to temperatures above those recommended by the manufacturer. Make sure heat

monitoring and limiting devices are working properly.

• Provide adequate ventilation to prevent dangerous concentrations of volatile particles or vapors. Refer to local

codes or the SDS for guidance.

• Do not disconnect live electrical circuits when working with ammable materials. Shut off power at a disconnect

switch rst to prevent sparking.

• Know where emergency stop buttons, shutoff valves, and re extinguishers are located.

Preventive Maintenance

As part of maintaining continuous trouble-free use of this product, Nordson EFD recommends the following simple
preventive maintenance checks:

• Periodically inspect tube-to-tting connections for proper t. Secure as necessary.

• Check tubing for cracks and contamination. Replace tubing as necessary.

• Check all wiring connections for looseness. Tighten as necessary.

• Clean: If a front panel requires cleaning, use a clean, soft, damp rag with a mild detergent cleaner. DO NOT USE

strong solvents (MEK, acetone, THF, etc.) as they will damage the front panel material.

• Maintain: Use only a clean, dry air supply to the unit. The equipment does not require any other regular

maintenance.

• Test: Verify the operation of features and the performance of equipment using the appropriate sections of this

manual. Return faulty or defective units to Nordson EFD for replacement.

• Use only replacement parts that are designed for use with the original equipment. Contact your Nordson EFD

representative for information and advice.

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9

EV Series Automated Dispensing Systems

Nordson EFD Product Safety Statement (continued)

Important Disposable Component Safety Information

All Nordson EFD disposable components, including syringe barrels, cartridges, pistons, tip caps, end caps,
and dispense tips, are precision engineered for one-time use. Attempting to clean and re-use components will
compromise dispensing accuracy and may increase the risk of personal injury.

Always wear appropriate protective equipment and clothing suitable for your dispensing application and adhere to
the following guidelines:

• Do not heat syringe barrels or cartridges to a temperature greater than 38° C (100° F).

• Dispose of components according to local regulations after one-time use.

• Do not clean components with strong solvents (MEK, acetone, THF, etc.).

• Clean cartridge retainer systems and barrel loaders with mild detergents only.

• To prevent uid waste, use Nordson EFD SmoothFlow™ pistons.

Action in the Event of a Malfunction

If a system or any equipment in a system malfunctions, shut off the system immediately and perform the following
steps:

1. Disconnect and lock out system electrical power. If using hydraulic and pneumatic shutoff valves, close and
relieve pressure.

2. For Nordson EFD air-powered dispensers, remove the syringe barrel from the adapter assembly. For Nordson
EFD electro-mechanical dispensers, slowly unscrew the barrel retainer and remove the barrel from the actuator.

3. Identify the reason for the malfunction and correct it before restarting the system.

Disposal

Dispose of equipment and materials used in operation and servicing according to local codes.

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10

EV Series Automated Dispensing Systems

Nordson EFD Product Safety Statement (continued)

Equipment-Specific Safety Information

The following safety information is specic to Nordson EFD automated dispensing systems.

European Community

To meet the requirements of the European Community (CE) safety directives, the robot must be placed in an
enclosure. The enclosure prevents an operator from entering the robot’s work area and generates an emergency
stop signal if the door switch is opened while the robot is running.

WARNING

Install the input/output safety plug only to bypass the door switch. When this plug is installed, the installer assumes
all safety liability.

Installation Location

Do not store, install, or operate the robot in a location where it is exposed to the following:

• Temperatures lower or higher than 0–40° C (50–104° F) or humidity lower or higher than 20–95%

• Direct sunlight

• Electrical noise

• Flammable or corrosive gases

• Dust or iron powder

• Sources of splashing water, oil, or chemicals

• Radioactive materials, magnetic elds, or vacuum rooms

Power and Grounding

• Connect the robot and accessories to a properly grounded power source.

• Make sure the system is connected to the correct voltage.

Operation and Service

• Turn on the dust collection system before operating the robot.

• Do not drop or spill foreign objects or material, such as screws or liquids, into the robot.

• Do not overload the robot.

• Do not touch any part of the robot while it is running. Load and unload workpieces or material only when the
robot is stopped.

• Disconnect and lock out power to the system before changing xtures or tooling.

• Use only a neutral detergent for cleaning. Do not use alcohol, benzene, or thinner.

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11

EV Series Automated Dispensing Systems

Specifications

Item/Model E2V E3V E4V E5V E6V

Number of axes 3 3 3 3 3

Maximum working area
(X / Y / Z)

Workpiece payload 5 kg (11.0 lb) 10 kg (22.0 lb) 10 kg (22.0 lb) 10 kg (22.0 lb) 10 kg (22.0 lb)

Tool payload 1.5 kg (3.3 lb) 3 kg (6.6 lb) 3 kg (6.6 lb) 3 kg (6.6 lb) 3 kg (6.6 lb)

Unit weight 29 kg (64 lb) 47.5 kg (105 lb) 52.5 kg (116 lb) 55 kg (121 lb) 58 kg (128 lb)

Dimensions

Maximum speed
(XY / Z)

Drive system

Memory capacity PC storage PC storage PC storage PC storage PC storage

Data storage PC storage / USB PC storage / USB PC storage / USB PC storage / USB PC storage / USB

General purpose I/O

Drive method PTP and CP PTP and CP PTP and CP PTP and CP PTP and CP

Dispensing controller External External External External External

Power supply

Interpolation 3 axes (3D space) 3 axes (3D space) 3 axes (3D space) 3 axes (3D space) 3 axes (3D space)

Repeatability* ±0.008 mm/axis ±0.008 mm/axis ±0.008 mm/axis ±0.008 mm/axis ±0.008 mm/axis

Working temperature 10–40° C (50–104° F) 10–40° C (50–104° F) 10–40° C (50–104° F) 10–40° C (50–104° F) 10–40° C (50–104° F)

Precision vision Included Included Included Included Included

DispenseMotion
software

Tip detection system Optional Optional Optional Optional Optional

Approvals CE, RoHS, WEEE, China RoHS

*Repeatability results may vary depending on the method of measurement.

150 / 200 / 50 mm
(6 / 8 / 2")

Wx435Hx510D mm

480
(19W x 17H x 20"D)

500 / 250 mm/sec
(20 / 10"/sec)

3-phase micro­stepping motor

8 inputs / 8 outputs
(16 / 16 optional)

Auto-switching,
AC100–240V, 230 W

Included Included Included Included Included

250 / 300 / 100 mm
(10 / 12 / 4")

595Wx538Hx645D mm
(23W x 21H x 25"D)

800 / 320 mm/sec
(31 / 13"/sec)

3-phase micro­stepping motor

8 inputs / 8 outputs
(16 / 16 optional)

Auto-switching,
AC100–240V, 350 W

350 / 400 / 100 mm
(14 / 16 / 4")

695Wx638Hx645D mm
(27W x 25H x 25"D)

800 / 320 mm/sec
(31 / 13"/sec)

3-phase micro­stepping motor

8 inputs / 8 outputs
(16 / 16 optional)

Auto-switching,
AC100–240V, 350 W

450 / 500 / 150 mm
(18 / 20 / 6")

795Wx717Hx815D mm
(31W x 28H x 32"D)

800 / 320 mm/sec
(31 / 13"/sec)

3-phase micro­stepping motor

8 inputs / 8 outputs
(16 / 16 optional)

Auto-switching,
AC100–240V, 350 W

570 / 500 / 150 mm
(22 / 20 / 6")

915Wx717Hx815D mm
(36W x 28H x 32"D)

800 / 320 mm/sec
(31 / 13”/sec)

3-phase micro­stepping motor

8 inputs / 8 outputs
(16 / 16 optional)

Auto-switching,
AC100–240V, 350 W

RoHS标准相关声明 (China RoHS Hazardous Material Declaration)

产品名称

Part Name

外部接口

External Electrical
Connectors

O:表示该产品所含有的危险成分或有害物质含量依照EIP-A,EIP-B,EIP-C

的标准低于SJ/T11363-2006限定要求。

Indicates that this toxic or hazardous substance contained in all the homogeneous materials for this part, according to EIP-A, EIP-B, EIP-C is below
the limit requirement in SJ/T11363-2006.

X: 表示该产品所含有的危险成分或有害物质含量依照EIP-A,EIP-B,EIP-C

的标准高于SJ/T11363-2006限定要求.

Indicates that this toxic or hazardous substance contained in all the homogeneous materials for this part, according to EIP-A, EIP-B, EIP-C is above
the limit requirement in SJ/T11363-2006.

有害物质及元素

Toxic or Hazardous Substances and Elements

铅 

Lead

(Pb)

汞 

Mercury

(Hg)

镉 

Cadmium

(Cd)

六价铬

Hexavalent
Chromium
(Cr6)

多溴联苯

Polybrominated
Biphenyls
(PBB)

X 0 0 0 0 0

多溴联苯醚

Polybrominated
Diphenyl Ethers
(PBDE)

WEEE Directive

This equipment is regulated by the European Union under WEEE Directive (2012/19/EU). Refer to www.
nordsonefd.com/WEEE for information about how to properly dispose of this equipment.

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12

Operating Features

EV Series System Component Identification

Pencil
camera

DispenseMotion
controller

Tip detector
(optional)

Monitor and
keyboard (mouse
not shown)

EV Series Automated Dispensing Systems

Syringe
barrel for uid
dispensing

Fixture plate

Robot

Joystick
(optional)

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(optional)

13

EV Series Automated Dispensing Systems

Operating Features (continued)

EV Front Panel

DISPENSER
PURGE button

SVC USB port (for
software upgrades)

START button

EMERGENCY STOP
button

EV Back Panel

I/O PORT (for
input/output
connections)

Tactile port (for
the tip detector,
if present)

RS232 port
(connects to the
DispenseMotion
controller)

Dispenser port
(for dispenser /
controller initiation)

Ext. Control
port (for the I/O
safety plug)

Power
Switch

Power Inlet

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Camera

EV Series Automated Dispensing Systems

The system includes a simple-vision pencil camera that
allows you to view the xture plate and to focus.

Locking bracket
for focus dial

Pencil Camera Features

Combination manual focus and on/off dial

Integrated lighting with an adjustable light­intensity dial

NOTE: To turn the light off, use a small at-

Location of screw used to
adjust light intensity

blade screwdriver to turn the screw inside the
camera bracket fully counterclockwise.

White diffuser cap for image enhancement
(can be removed)

White diffuser cap

Joystick

The optional joystick can be used instead of the keyboard cursor keys to move the dispensing tip. Refer to
“Accessories” on page 61 for the joystick part number.

CAUTION

Do not connect the joystick to the USB port on the front of the robot.

1. Connect the joystick cable to a USB port on the DispenseMotion controller.

2. Place the selector switch in the D position.

3. On the Program screen of the dispensing software, click the JOYSTICK icon to enable the joystick. Refer to the
illustration below for information on how the joystick functions.

The icon turns yellow when the joystick is enabled.

Use these keys to
jog the robot along
the XY axes

To jog faster, press
and hold this button

Place the selector
switch on the bottom
of the joystick in the D
position

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Use this button to
jog the robot along
the Zaxis

15

EV Series Automated Dispensing Systems

Installation

Use this section in tandem with the Quick Start Guide and the valve system manuals to install all components of the
system.

Unpack the System Components

CAUTION

Unpacking the robot requires a minimum of two people.
Do not attempt to lift the robot without assistance.

1. Remove all system components and ship-with
items from the packaging.

2. With assistance, carefully lift the robot by its base
and transfer it to a stable workbench. Never lift the
robot by its cross member.

NOTE: All units are shipped from the factory with
foam protectors that secure the worktable to
the X axis and the Zaxis to prevent movement
and damage during shipment. Nordson EFD
recommends retaining all packing material for use if
the robot is shipped or moved in the future.

3. Remove the protective foam covers and tape.

4. Double-check the shipping box to ensure you have
removed everything.

Foam
protector

Cross
member (do
not use to
lift the robot)

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16

EV Series Automated Dispensing Systems

Position the Robot and Install and Connect Components

Refer to the Quick Start Guide and to this section as needed to install the system components and make
connections.

NOTES:

• The components of an automated dispensing system vary. Steps for a complete system with all available
components are provided in this manual and in the Quick Start Guide. Perform only the steps that apply to your
system.

• If the system is being used in the European Community, the robot is shipped with an enclosure or light curtain
that (1) prevents an operator from entering the robot’s work area and (2) generates an emergency stop signal if
the enclosure door switch is opened while the robot is running.

Before you begin any programming or operation, complete the following tasks as applicable for your system.

Applicability Item

All models Input/output

safety plug
(SHORTED)

All models DispenseMotion

controller

All models Pencil camera

Components to Install
or Connect

Installation Tasks

 Connect the input/output safety plug to the

Ext. Control port to bypass the door switch.

CAUTION

Install this plug only if you want to bypass the
door switch. When this plug is installed, the
customer assumes all safety liability.

 Mount the DispenseMotion controller on

the shelf.

 Install the shelf-and-controller assembly on

the left upright bracket.

 Connect cable(s).

 Install the bracket.

 Install the camera.

 Connect the cable to USB-CCD on the

DispenseMotion controller.

 Route the cable by using the provided

cable clips to attach it to the Zaxis.

All models Monitor,

keyboard, and
mouse (not
shown); dongle
for wireless
keyboard and
mouse

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 Connect the monitor.

 Connect the wireless keyboard and mouse

dongle to USB 4 on the DispenseMotion
controller.

Continued on next page

17

EV Series Automated Dispensing Systems

Position the Robot and Install and Connect Components (continued)

Components to Install

Applicability Item

All models
(optional)

All models Dispenser

Joystick

components

or Connect Installation Tasks

 Connect the joystick cable to any USB port

on the DispenseMotion controller or USB
expansion cable.

NOTES:

• Do not connect the joystick to the USB port
on the front of the robot.

• Refer to “Joystick” on page 15 for joystick
operating instructions.

As applicable

 Mount the syringe barrel or dispensing

valve holder (as applicable) on the Zaxis;
choose mounting holes that allow a
maximum workpiece clearance but also
allow the dispensing tip to reach all areas
on the workpiece where dispensing is
required.

 To prevent damage to the camera, make

sure the dispensing tip position is lower
than bottom of the camera. Refer to “Check
the Camera and Dispenser Installation” on
page 19.

 Refer to the dispensing equipment manuals

for all other dispensing system installation
steps.

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18

EV Series Automated Dispensing Systems

Check the Camera and Dispenser Installation

To prevent damage to the camera, make sure the dispensing tip position is lower than bottom of the camera.

Camera bottom

Tip bottom

Work surface

Example of correct camera installation (dispensing tip lower than the bottom of the camera)

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19

EV Series Automated Dispensing Systems

5.91

150.00

2.36

60.00

6X .79

20.00

2X .79

20.00

21X M4X0.7 - 6H THRU ALL

7.48

190.00

5.91

150.00

4X 1.57

40.00

3X 1.57

40.00

20X M4X0.7 - 6H THRU ALL

Prepare the Work Surface or Fixture Plate

Prepare the robot work surface or xture plate for secure placement of the workpiece. All Nordson EFD automated
dispensing systems include a standard xture plate. Other xture plate sizes are available. Refer to “Accessories” on
page 61.

200 x 200 standard fixture plate Larger fixture plate (300 x 300, 400 x 400, or 500 x 500)

Connect Inputs / Outputs (Optional)

All automated dispensing systems provide 8 standard inputs and 8 standard outputs. Connect input / output wiring
to the I/O PORT connection on the back of the robot. For a wiring diagram, refer to “I/O Port” on page 65. There
are several ways to use the system inputs / outputs. Refer to “Setting Up Inputs / Outputs” on page 45 for
additional information on inputs / outputs.

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20

Power On the System

After the system is fully installed, including the dispensing system
components, switch on the system to verify the installation.

1. Make sure the following installation tasks are complete:

• All applicable system components are installed (refer to
“Installation” on page 16).

• Input/output safety plug is installed (if applicable).

• EMERGENCY STOP button on the front panel of the
robot is not depressed.

2. Switch on the DispenseMotion controller, monitor, and
robot.

3. Double-click the DispenseMotion icon to open the
dispensing software.

4. Click HOME.

The robot moves the camera to the home position (0,0,0)
and the system is ready.

EV Series Automated Dispensing Systems

5. If you connected the joystick and want to use it, click the JOYSTICK
icon to enable it. The icon turns yellow when the joystick is enabled.
For more information on using the joystick, refer to “Joystick” on page

15.

6. Enable the dispensing system, including the valve controller. Refer to
the dispensing equipment manuals as needed.

7. Refer to the following sections to set up the system and to create
programs for your applications:

• “Concepts” on page 22

• “Overview of the DispenseMotion Software” on page 25

• “Setup” on page 34

• “Programming” on page 48

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21

EV Series Automated Dispensing Systems

Concepts

Before creating any programs, make sure you understand the concepts explained in this section.

About Programs and Commands

A program is a set of commands stored as a le. Each command is stored in the le as a numbered address.
Commands can be subdivided into the following command types:

• A setup command sets a program-level parameter, such as an XYZ coordinate or the Z clearance height.

• A dispense command is tied to an XYZ coordinate and automatically sends a signal to the dispensing system to
execute the dispense command.

When the robot executes a program, it steps through each address in sequence and executes the command
contained in that address. If an address contains a setup command, the system registers that command. If an
address contains a dispense command, the robot moves the X, Y, and Z axes to the location specied for that
command and then performs the dispense command.

Dispense commands are the building blocks of patterns. To program a dispense command, the dispensing tip is
jogged to the desired XYZ location and then a dispense command is registered for that location. This action is
repeated until the desired dispensing pattern is complete. Several examples are provided below.

Setup commands dictate how dispense commands will be executed. Nordson EFD recommends inserting setup
commands at the beginning of a program. The following setup commands are the most commonly used: Dispense
End Setup, Point Dispense Setup, Line Dispense Setup, Line Speed, Z Clearance, Retract Setup, and Adjust
Position.

Dispense Command Examples

Commands Resulting Pattern

To program the robot to dispense a dot of uid, an XYZ
location is registered as a DISPENSE DOT command.

To program the robot to dispense a bead of uid along
a linear path, the XYZ location of the start of the line is
registered as a LINE START command. The locations
where the tip changes direction are registered as LINE
PASSING commands. The location where the bead of
uid ends is registered as a LINE END command.

To dispense a bead of uid in an arc, the XYZ location
of the start of the bead is registered as a LINE START
command. The high point of the arc is registered as an
ARC POINT command. The end of the arc is registered
as a LINE END command.

Lines and arcs can also be combined to dispense a
bead of uid along a complex path.

DISPENSE DOT

Line Start

Line Start Line End

Arc Point

Line Start

Line Passing

Line EndLine Passing

Line Passing

Arc Point

Line End

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22

Line Passing

EV Series Automated Dispensing Systems

About Programs and Commands (continued)

Best Practices for Programming

• Insert dispense setup commands at the beginning of the program.

• Insert mark commands before any dispense commands.

• Insert dispense commands after inserting setup and mark commands.

• Insert the End Program command at the end of all programs.

About Offsets

Offset is the distance between two components. The system must be “taught” the following offsets before any
programs are created:

• Camera-to-tip offset: the distance between the center of the camera view and the center of the dispensing tip
(this is an XY offset).

• Tip-to-workpiece offset: (1) the distance between the bottom of the tip and the workpiece for contact
applications or (2) the distance between the bottom of the nozzle and the workpiece for non-contact
applications (this is the Z height clearance).

These offsets must be properly calibrated to make sure the dispensing tip follows the same path as the camera and
to compensate for slight variations in height that occur when a dispensing tip or nozzle is changed.

Once the offsets are properly set up, you can automatically update offsets at any time by clicking Needle XY Detect
and/or (if your system includes the tip detector) Needle Z Detect (refer to “How to Automatically Update Offsets” on
page 48). Offsets should be updated as follows:

• At initial startup.

• Any time a component installed on the Zaxis (such as the syringe barrel or camera) is moved.

• Any time a dispensing tip or nozzle is changed.

Camera-to-tip
XY offset

Tip-to-workpiece
offset
(Z clearance)

Illustration of camera-to-tip offset (also referred to as XY offset) and tip-to-workpiece offset (also referred to as tip height or
Zclearance)

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Camera-to-tip
XY offset

Tip (nozzle)-to­workpiece offset
(Z clearance)

23

EV Series Automated Dispensing Systems

About Marks

To recognize that a workpiece is present or to determine its orientation on the xture plate, the system uses marks
and ducial marks. Marks are reference images (pictures of a small area on a workpiece) taken by the camera and
stored in a location called the Mark Library. The Mark Library appears in the Secondary View screen when the
Camera tab is selected. The stored images are shown in sockets in the Mark Library. Picture sockets are blank if
they do not contain a stored image.

A mark is a single image that the system uses to nd a specic location on a workpiece. Fiducial marks are two
mark images that are used conjointly to (1) identify whether a workpiece is present in the proper XY location and (2)
to understand its angle of rotation, and then to make automatic adjustments to the program accordingly.

Picture socket with
a stored mark image

Blank picture
socket (no stored
image)

Mark Library

Camera screen shown in the Primary View screen and the Mark Library shown in the Secondary View screen

Best Practices For Selecting a Mark Image

• The selection should be on the actual workpiece (not on the xture plate) because it is the workpiece position that
the system adjusts to.

• The selection should be unique. There should be only one selection of its kind within the camera view. For
example, don’t choose one of many small circles that are within the camera view.

• Sharp features are best. For example, the intersection of two lines in the capital letter T would be better for a mark
image than the center of a circle, which possesses no nite lines.

• An actual dispensing position, such as the corner of a silk-screened solder pad, is more effective than the broken
corner edge of a pallet of circuit boards because of the differences in their manufacturing precision.

• The further away ducial marks are from each other, the more precise the system will be in locating them on a
workpiece.

Mark Image Files

You can store 240 mark images in the sockets available in the Mark Library. The Mark Library appears in the
Secondary View screen (refer to “Secondary View Screen” on page 27 for more information). These marks are
stored as les on the PC under Documents\mark.

Location of mark image files on the PC

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24

EV Series Automated Dispensing Systems

Overview of the DispenseMotion Software

This section provides an overview of the all the DispenseMotion software screens, windows, and icons. This
information is provided for your reference as needed. To set up the system and create dispensing programs, refer to
“Setup” on page 34 and “Programming” on page 48. The software opens at the Program screen.

Refer to “Horizontal
and Vertical Toolbar
Icons” on page 28

Command
address (A)

Refer to “Primary View
Screen and Tab Bar” on
page 26

Refer to “Secondary
View Screen” on
page 27

Refer to “Camera
Screen, Tab Bar,
and Icons” on
page 32

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Refer to
“System Setup
Screen” on
page 31

Refer to “Primary View
Screen and Tab Bar”
on page 26

Refer to “Setup and
Dispense Command
Icons” on page 29

Refer to
“Navigation and
Jogging Window”
on page 30

25

EV Series Automated Dispensing Systems

Primary View Screen and Tab Bar

The Primary View screen changes depending on the selected tab. All the tabs are visible at all times.

Tab Name

Program

Camera Shows the actual camera view; used to perform all camera-related

System Setup

DXF

Needle XY
Adjust

Needle Z Detect

Toggle Probe

Teach

Run

Tab Color When
Selected

Function

Shows the command view; used to create programs.

functions.

Shows the settings screen; used to view or change system-level settings or
parameters.

Allows you to load drawings in DXF format into the DispenseMotion
software. Refer to “Appendix B, DXF File Import” on page 84 for more
information.

Automatically adjusts the XY offsets without touching the tip to any surface.
Refer to the correct offset setup procedure under “Setup” on page 34 to
set up the system for automatic Needle XY Adjust.

If the system includes a tip detector, Needle Z Detect automatically adjusts
the tip offset (Z clearance) after a dispensing tip change and then performs
a Needle XY Adjust. Refer to the correct offset setup procedure under
“Setup” on page 34 to set up the system for automatic Needle Z Detect.

When the optional height sensor is installed, lowers or raises the height
sensor probe. Refer to “Appendix E, Height Sensor Setup and Use” on
page 97 for all information related to the optional height sensor.

When the optional start / stop box is connected, this indicator appears on
the tab bar and ashes when the robot is in the safety bypass mode. When
the Teach indication is present, the Run button is disabled.

Runs the selected program.

View

Pause

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26

Runs the selected program without dispensing and also centers the camera
on the dispense path.

Pauses the program that is currently running. When you click on Pause, the
button changes to Continue.

Secondary View Screen

The Secondary View screen changes depending on the selected tab.

EV Series Automated Dispensing Systems

Selected
Tab

Program

Camera

Tab Color When
Selected

Secondary Screen Display Function

When the Path icon is toggled ON:

When the Path icon is toggled OFF:

Mark Library: Stores up to 240 mark les.

When the Path icon is toggled on,
shows a visual representation of the
programmed pattern and the Path
mode icons. Refer to “Horizontal
and Vertical Toolbar Icons” on page
28 an explanation of the icons.

When the Path icon is toggled OFF,
shows an actual view of the xture
plate or workpiece surface as seen
by the camera.

System
Setup

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Grid view and keypad: The keypad is used to enter

numeric values. Refer to “Keypad”
on page 33.

27

EV Series Automated Dispensing Systems

Horizontal and Vertical Toolbar Icons

Use the icons located on the horizontal and vertical toolbars to manage les, insert certain commands, and perform
other functions as described below.

Icon Name Icon Function

Refresh

(Path mode only) Refreshes
the Secondary View screen

Icon Name Icon Function

A New File

Open a File Opens a le

Save Saves the open le

Save as

Undo

Redo Restores the last Undo action

Cut

Copy

Paste

Insert

Delete Deletes the current memory

CCD Mode

Tip Mode

Match

Example Provides sample programs

Path

Creates a new le

Saves the open le as a new
le name

Undoes the last command

Cuts a selection

Copies a selection

Pastes a selection

Inserts a memory address

address

Toggles the system between
camera mode and tip mode

Toggles the system between
camera mode and Tip Mode

Centers the camera on a mark
selected in the Mark Library
(camera must be near the mark
on the workpiece)

that contain examples of the
commands you can use to
create programs

Switches the Secondary view
screen from the Camera view
to the Grid view (Path mode)

See all

Magnify

Reverse line

Select entity

Move

Enable
Address

Disable
Address

Focus

Block Start

Transform

Extend Step
& Repeat

Change Z
Value

Point Offset

Joystick Toggles the joystick control on

(Path mode only) Shows all
the programed points on the
Secondary View screen

(Path mode only) Magnies
an area of the Secondary View
screen

(Path mode only) Reverses the
direction of the programmed
points

(Path mode only) Selects a
group of points

Moves the tip or camera to
the XYZ location of a selected
address (if the address has a
location value)

Re-enables an address that
was previously disabled using
Disable Address

Disables a command in
the program (re-enable the
command by clicking Enable
Address while in the selected
address)

Automatically moves the Z
position to the focus position
based on the initial setup

For a Step & Repeat command,
disables dispensing onto
workpieces at selected
locations in an array

Aligns the program points of
an uploaded DXF drawing
with their actual locations on a
workpiece

Expands all the commands in a
Step & Repeat command (can
only be undone using the Undo
icon)

Changes the Z value in a
command or in a list of
selected commands in a
program (mainly used to ne­tune and adjust the dispensing
gap)

Changes or moves all program
points if the placement of a
workpiece was changed

or off

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28

EV Series Automated Dispensing Systems

Setup and Dispense Command Icons

Click the dispense and setup command icons to enter the associated command at a numbered address in a
program. Use the green arrows to move up and down through the icons Refer to “Appendix A, Command Function
Reference” on page 67 for detailed information on all commands.

Icon Name Icon Function

End
Program

Ends a program

Icon Name Icon Function

Dispense Dot

Line Start

Line Passing

Line End

Arc Point

Circle

Dispense Dot
Setup

Line
Dispense
Setup

Line Speed

Registers the current location
as a Dispense Dot point

Registers the current location
Line Start point

Registers the current location
as a Line Passing point

Registers the current location
as a Line End point

Registers the current location
as an Arc Point

Registers the current location
as a Circle

Sets Dispense Dot parameters

Sets line dispensing
parameters

Sets a line speed (overrides the
default speed settings)

Fill Area Fills an area according to the Fill

Label

Acceleration

Output Sends a selected output signal

Input

Dispenser
On

Dispenser
Off

Initialize Resets stored correction data

Dummy
Point

Wait Point

Park
Position

Area parameter settings

Registers a label for a specic
location in a program

Changes how the robot
accelerates from point to point
or along a continuous path

from the robot

Tells the robot to check for an
input signal from a selected
input channel

Enables dispensing

Disables dispensing

Registers the current location as
a Dummy Point

Registers the current location as
a Wait Point

Sends the robot to the park
position

Z Clearance
Setup

Dispense
End Setup

Backtrack
Setup

Find Mark

Fiducial Mark Registers a Fiducial Mark (two

Step &
Repeat X

Step &
Repeat Y

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Sets the Z clearance (overrides
the default Z clearance setting)

Sets how fast and how high the
tip raises after dispensing

Sets how the tip backtracks
after dispensing

Registers a Find Mark

required)

Sets up Step & Repeat X
parameters

Sets up Step & Repeat Y
parameters

Stop Point

Goto
Address

Goto Label

Registers the current location as
a Stop Point

Skips to the specied address
number in a program

Skips to the specied Label in a
program

29

EV Series Automated Dispensing Systems

Navigation and Jogging Window

Use the icons on the navigation and jogging window to move the dispensing tip. This window also includes the
counter.

Icon

Name

X+

X-

Y+

Y-

Z+

Z- Jogs the Zaxis up

Stop Stops the robot

Home Sends the robot to the home

Icon Function

Jogs the X axis to the right

Jogs the X axis to the left

Jogs the Y axis backward (moves
the xture plate forward)

Jogs the Y axis forward (moves
the xture plate backward)

Jogs the Zaxis down

position (0,0,0)

Icon

Name

Fast

Middle Medium jogging speed

Slow Slowest jogging speed

Relative Sets the origin relative

Absolute

Counter

Icon Function

Fastest jogging speed

to the coordinates of the
workpiece

Displays the system
position relative to the
home position (0,0,0)

Shows the time for the
time zone selected in
the DispenseMotion
controller’s operating
system OR shows the
cycle time of the program
(click the box to toggle the
display)

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30

EV Series Automated Dispensing Systems

System Setup Screen

Click the System Setup tab to go to the System Setup screen. This screen includes elds for system settings and
tip detector (if present) setup. Refer to the sections of the manual referenced below for detailed information on these
elds.

System Setup
Screen Area

Axis Limit Refer to “Setting System Parameters”

Speed Refer to “Setting System Parameters”

Line Acc

Point to point Acc

Offset Alarm Refer to “Setting System Parameters”

Language Refer to “Setting System Parameters”

IO Refer to “Setting Up Inputs / Outputs”

Park Position Refer to “Setting System Parameters”

Tip Detect Device Used to set offsets. Refer to “(Only EV

Version Shows the current version of the

Auto Purge Refer to “How to Set Up Auto Purge,

Run Limit

Fluid Working
Life

Password Refer to “Setting Password Protection”

Lock Program

Enable File
Switch

Function

on page 34.

on page 34.

Refer to “Setting System Parameters”
on page 34.

on page 34.

on page 34.

on page 45.

on page 34.

Systems With a Tip Detector) Setting
Up the Tip Detector” on page 38.

software

Program Cycle Limits, or Fluid Working
Life Limits” on page 57.

on page 36.

Refer to “How to Lock or Unlock a
Program” on page 50.

System Setup
Screen Area

Pre-cycle
Initialize

Tip Detect Device Species whether a tip detector is

2D Code Enables or disables QR code scanning

Multi Needles Enables or disables the multi-needles

Height Sensor Species whether the optional height

Model Species the robot model.

Expert For Nordson EFD use only

Exit Closes the software

Function

Causes the robot to move to the
home position (0,0,0) before starting a
dispense cycle.

present.

capability.

capability (used if the system includes
more than one dispenser).

sensor is installed.

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31

EV Series Automated Dispensing Systems

Camera Screen, Tab Bar, and Icons

Click the CAMERA tab to go to the Camera screen. The actual view of what the camera sees appears in the Primary
View screen and the Mark Library appears in the Secondary View screen. The tabs at the top of the Camera screen
are used for camera setup and mark creation.

Primary View screen
shows the actual
camera view when the
Camera tab is selected

Secondary View
screen shows the
Mark Library when the
Camera tab is selected

Camera Screen Tab Function

Center

Set Mark

Cancel

Range

Scale

Stop Find

Setup

Moves the camera focal point
to the center of an object

Sets a mark. Refer to “About
Marks” on page 24 and to
“How to Create a Mark” on
page 53.

Cancels the last camera­related action

Sets the area within which the
system searches for a mark

Scales the screen to match
the camera view scale (occurs
during setup).

Stops the attempt to nd a
mark

Opens the Camera Setup
window that provides access
to important setup elds
related to the camera. Refer
to “Camera Setup Screen” on
page 33.

Icon Name Icon Function

Microscope

Measure
Length

Measure
Circle
Diameter

Touch Move

Provides a magnied image
on the screen

Measures the distance
between two points. Refer
to “How to Measure a Path
or Circle on a Workpiece” on
page 50.

Measures the diameter of
a circle. Refer to “How to
Measure a Path or Circle on a
Workpiece” on page 50.

When toggled, moves the
camera to the point clicked
and moves the focal point
to the center of the viewing
screen

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32

EV Series Automated Dispensing Systems

Camera Setup Screen

Click the CAMERA SETUP tab to see the Camera setup elds. The actual view of what the camera sees appears in
the Primary View screen and the camera setup elds appear in the Secondary View screen.

Camera Screen Setup Window Section Function

Absent

Sets how the system responds when it cannot nd a mark. Refer to
“Setting How the System Finds Marks (Optional)” on page 46.

Match

Circle Size

4 sides

Offset

Affects how the camera searches for marks. Refer to “Setting How
the System Finds Marks (Optional)” on page 46.

Sets the size of the yellow and green circles on the Camera screen.
A higher value results in a larger circle.

Sets the area within which the camera searches for a mark. If 4
sides is NOT checked, the camera looks only within the specied
range (set under Range). If 4 sides is checked, the camera
overrides the range settings and performs a full-screen search for
the mark. This increases the chances of nding the mark, but is
slower.

Used for system setup and calibration. Refer to “Setting the
Camera-to-Tip Offset” on page 41.

Keypad

A numeric keypad appears when data entry elds are present. Use the
keypad for mouse-click entry of numbers as an alternative to using the
numbers on the keyboard. Regardless of how numbers are entered, you
must click Enter on the keypad for the system to accept the input.

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33

EV Series Automated Dispensing Systems

Setup

After installation and before creating any programs, perform these required and optional setup procedures as
applicable for your automated dispensing system.

Setting System Parameters

The factory system settings are appropriate for most applications. Use this procedure as needed to view or change
system settings. Important system settings include the following:

• Model: Selects the system model.

• Speed: The speed at which the dispensing tip moves.

• Line Acc: How the robot accelerates from one point to another.

NOTE: To set up automatic purge settings, run limits, or uid working life limits for a program, refer to “How to Set
Up Auto Purge, Program Cycle Limits, or Fluid Working Life Limits” on page 57.

To view or change system parameters:

# Click Step Reference Image

1

>

• Click the SYSTEM SETUP tab, then click
OPEN.

2

3

• View or change parameters as appropriate
for your application. Refer to “System Setup
Screen Fields” below for information on
system-level parameters.

• Click another tab to close the System Setup
screen.

NOTE: Settings are automatically saved
except for the Model and Language
selections. Changes to these selections
take effect after you EXIT and reopen the
DispenseMotion software.

System Setup Screen Fields

Item Screen Capture Description

Axis Limit

Speed

Sets the range limits within which the robot can move. A value higher
than the default settings (shown in the screen capture) cannot be
entered.

Sets the speed (in mm/s) of the axis movement. The default values are
shown in the screen capture. For maximum speed specications, refer to
“Specications” on page 12.

CAUTION

The robot automatically adjusts its speed depending on the complexity
of the pattern. Forcing the robot to run at higher speeds can compromise
accuracy and may disrupt system operation.

Continued on next page

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34

Setting System Parameters (continued)

Item Screen Capture Description

Line Acc

Point to point
Acc

Sets the rate of acceleration for line dispensing (Line Acc) or from point
to point (Point to point Acc):

• Line Acc is the dispensing speed within a line command, between
the start- to mid-points, the start- to end-points, and the mid- to mid­points or mid- to end-points.

• Point to point Acc is the robot movement speed between two
dispense points.

Default: 200
Range: 20–500

NOTE: The higher the acceleration, the faster a program runs. However,
higher acceleration settings can also compromise pattern quality.

The robot automatically adjusts its speed depending on the complexity
of the pattern. Forcing the robot to run at higher speeds can compromise
accuracy and may disrupt system operation.

EV Series Automated Dispensing Systems

CAUTION

Offset Alarm Sets how much deviation the system allows for offsets. The default

settings are shown in the screen capture.

EXAMPLE: If Offset Alarm is enabled and the result of an automatic
offset performed by clicking Needle Z Detect or Needle XY Adjust is
outside the XYZ values specied for Offset Alarm, the system displays
an alarm.

Language

Park Position

Other

Sets the user interface language. Any change takes effect upon system
restart.

Sets the position to which the dispensing tip moves to (1) purge uid or
(2) when the Park Position command occurs in a program.

• Pre-cycle Initialize: If selected, the robot always moves to the home
position (0,0,0) before the start of a dispense cycle.

• Tip Detect Device: If the system includes a tip detector, check this
box.

• 2D Code: Check this box to enable or disable QR code scanning
capability. Refer to “Appendix C, QR Code Scanning Setup” on page
89 to set up QR code scanning.

• Multi Needles: To dispense using more than one dispenser (up to 5
dispensers possible), check this box. Refer to “Appendix D, Multi­Needle Setup and Use” on page 92 to set up a multi-dispenser
system.

• Height Sensor: If the system includes the optional height sensor,
check this box. Refer to “Appendix E, Height Sensor Setup and Use”
on page 97 for all information related to the height sensor.

• Model drop-down menu: Sets the dispensing software conguration;
this setting must match the system conguration (model).

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35

EV Series Automated Dispensing Systems

Restoring the System to the Factory Default Settings

To restore all settings to their factory default values, open and then close the following le located on the C:\ drive:
C:\ever_sr\Initial Setup.

Setting Password Protection

Use the Password portion of the System Setup screen to set or reset a password. The purpose of a password is to
protect the system settings from unauthorized editing.

NOTES:

• The default is no password protection.

• If the password is forgotten, contact your Nordson EFD representative for assistance.

• A password is limited to 16 numbers or characters.

# Click Step

1

• Click SYSTEM SETUP > OPEN.

>

2

>

• Under Password, enter a password or make the eld blank to
remove a password, then click CHANGE PASSWORD.

The system conrms the password change, which takes effect
after the software is closed and then reopened:

- If a password was entered, the system will prompt for the
password before opening the System Setup screen.

- If the Password eld was blank, no password will be required
to open the System Setup screen.

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36

EV Series Automated Dispensing Systems

Setting Up and Calibrating the System (Required)

Before creating any programs or using the automatic offset update capabilities of the system, you must properly set
up and calibrate the system. Correct system setup and calibration is critical for proper system operation and must
be performed as follows:

• At initial system startup.

• After a component on the Zaxis (such as the syringe barrel or camera) is moved or if the relationship between
the dispensing tip and/or camera is altered.

Setup and calibration includes the following procedures:

• Verifying the system conguration.

• Focusing/calibrating the camera.

• Calibrating and setting the camera-to-tip offset.

• Calibrating and setting the tip-to-workpiece offset.

• Testing the setup.

NOTE: Refer to “About Offsets” on page 23 for an explanation of offsets.

Verifying the Robot Model and Tip Detector Selection

# Click Step Reference Image

1

>

2

• Click SYSTEM SETUP > OPEN.

• Under Other, verify the following:

- The correct robot model is selected.

- If your system includes a tip detector, Tip
Detect Device is checked.

• If you made changes, close and reopen the
DispenseMotion software for the changes to
take effect.

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37

EV Series Automated Dispensing Systems

(Only EV Systems With a Tip Detector) Setting Up the Tip Detector

# Click Step Reference Image

1

>

• Click SYSTEM SETUP > OPEN.

2

• Jog the tip until it is positioned about 2 mm
above the sensor on the tip detector.

3

• Under Tip Detect Device, click SET (next to
Move).

• Click YES/OK when prompted for
conrmations.

4

• Under Tip Detect Device, enter a value of
10(mm) Z Detect Limit.

• Click YES/OK when prompted for
conrmations.

5

• Under Tip Detect Device, click DETECT.

• Click YES/OK when prompted for
conrmations.

The robot raises the tip to Z = 0, then lowers
the tip onto the sensor to detect the tip
offset.

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38

EV Series Automated Dispensing Systems

Focusing and Calibrating the Camera

PREREQUISITES

 The system is fully installed (including the dispensing valve) and includes uid.

 The bottom of the tip is lower than the bottom of the camera.

 The workpiece is present on the xture plate.

Focusing the Camera

# Click Step Reference Image

1

• Click the CAMERA tab.

2

• Jog camera and tip over the workpiece and
do the following:

- Make sure there is sufcient clearance
between the tip and the workpiece
(minimum of 5 mm).

- Adjust the camera on the bracket until the
viewing area of the camera (at the selected
height) shows the area you want to view
and create a dispensing program for.

3

• Without moving the robot, loosen the screws
that secure the focus dial bracket.

• Turn the focus dial on the camera until the
sharpest image is obtained.

• Tighten the focus dial bracket screws.

4

• Use a small Phillips screwdriver to adjust
the camera light such that the light setting
will make the workpiece surface visible
regardless of any changes in the ambient
light.

NOTE: The screw is located inside the
camera housing.

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39

EV Series Automated Dispensing Systems

Focusing and Calibrating the Camera (continued)

Setting the Camera Scale

# Click Step Reference Image

1

>

2

• Click the CAMERA tab and then click
SCALE.

The Scale window opens.

NOTE: When the camera views an object, it
converts the pixels to a true measurement.
For the camera to make this conversion
accurately, you must “teach” the camera
what the size of an object is in comparison
to pixels per inch by setting the camera
scale.

• Choose a point of reference on the
workpiece and jog the camera so that the
reference point is located in the lower right
quadrant of the camera screen, then click
the point.

3

• Jog the camera again until the same
reference point is located in the upper left
quadrant of the camera screen, then click
the point.

The camera scale is now set.

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40

EV Series Automated Dispensing Systems

Setting the Camera-to-Tip Offset

# Click Step Reference Image

1

>

• Click the CAMERA tab and then click SETUP
at the top of the Camera screen.

The camera setup elds appear. This
procedure uses the elds under Offset,
located at the top right corner of the screen.

2

• Jog the tip until it is positioned over the
stainless-steel area on the tip detector.
Lower the tip until the desired dispense gap
(between the tip and surface) is reached.

3

• Click SET next to Needle Move.

This sets the XYZ coordinates for the
dispense calibration point. The system
enters the dispensing tip coordinates in the
elds under Needle Move and Set.

4

• Use the keypad to enter the following
recommended dispense dot parameters:

- DISPENSE: 0.5

- TAIL TIME: 0.2

5

• Click FLUID to dispense a dot of uid.

The dispenser dispenses a dot of uid (a
dispense dot) on the tip detector.

6

• Jog the camera until the camera crosshairs
are centered over the dispense dot.

• Jog the Zaxis until the image of the
dispense dot is clear.

7

• Click SET next to Camera Move.

This sets the camera position. The system
enters the camera coordinates in the elds
under Camera Move and Set.

Continued on next page

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41

EV Series Automated Dispensing Systems

Setting the Camera-to-Tip Offset (continued)

# Click Step Reference Image

8

• Click SETUP again to close the Setup elds
and show the Mark Library in the Secondary
View screen.

9

10

11

12

• Click SET MARK. A red box appears. Click
and hold the center of the red box, drag it
over the dispense dot, and then click and
drag the four box handles such that they
outline the dot.

• Click a socket in the Mark Library to save the
mark as a Mark No., then click TEMPLATE
when the Template Match window appears.

NOTE: Be sure to remember the Mark No.

• Click SETUP to go back to the Camera
window Offset elds.

• Use the keypad to enter the Mark number in
the Mark No eld under focus.

NOTES:

- Make sure you click ENTER on the keypad
to enter the Mark number.

- Mark Time sets the time allowed for the
system to nd the mark.

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42

EV Series Automated Dispensing Systems

Setting the Tip-to-Workpiece Offset (Z Clearance) Using the Camera Focus

# Click Step Reference Image

1

• Click the PROGRAM tab.

2

• Click the CCD Mode icon to change to the
Tip MODE.

3

• Jog the tip to a good reference point on the
workpiece.

4

• Jog the tip down until it is as close to the
workpiece as possible without touching the
surface.

5

>

6

• Click CAMERA > SETUP to return to the
Offset elds.

• Click SET next to Focus.

NOTE: The Set button should be bright
blue.

7

8

• Click FOCUS next to Set.

• Jog the camera until the camera crosshairs
are centered over the dispense dot you
created earlier.

• Jog the Zaxis until the image of the
dispense dot is clear.

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43

EV Series Automated Dispensing Systems

Testing the System Setup and Calibration

# Click Step

1

2

ONLY SYSTEMS WITH A TIP DETECTOR:

• Click NEEDLE Z DETECT to test the setup.

• Click YES/OK when prompted for conrmations.

NOTES:

- When the system performs a Needle Z Detect, it automatically performs a
Needle XY Adjust directly after performing the Needle Z Detect.

- Refer to “How the System Responds to Needle Z Detect or Needle XY
Adjust” on page 44 for a detailed description of the system response to
a Needle Z Detect selection.

SYSTEMS WITHOUT A TIP DETECTOR:

• Click NEEDLE XY ADJUST to test the setup.

• Click YES/OK when prompted for conrmations.

Refer to “How the System Responds to Needle Z Detect or Needle XY
Adjust” on page 44 for a detailed description of the system response to a
Needle XY Adjust selection.

The system is now properly set up and calibrated. Refer to “Programming” on
page 48 to create programs.

How the System Responds to Needle Z Detect or Needle XY Adjust

NOTE: On systems with the optional tip detector, both the Needle XY Adjust and Needle Z Detect buttons are

present. On systems without the optional tip detector, only the Needle XY Adjust button is present.

When you click NEEDLE Z DETECT, the system performs the following actions:

• Moves the dispensing tip over the Tip Detector sensor and lowers it until it touches the sensor.

• Measures and compares the difference between the last measurement and the current measurement.

• Requests conrmation for any change in the tip-to-workpiece offset (Z clearance).

• Realigns all points in the currently open program to the new tip-to-workpiece offset (Z clearance).

• Automatically performs a Needle XY Adjust sequence (shown below).

When you click NEEDLE XY ADJUST, the system performs the following actions:

• Moves the dispensing tip to a preset location on the workpiece.

• Dispenses a dot of uid.

• Moves the camera over the deposited dot of uid.

• Compares the alignment of the dot with the mark image saved in the Mark Library.

• Requests conrmation for any change in the camera-to-tip offset (XY offsets).

• Realigns all points in the currently open program to the new XY offsets.

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44

EV Series Automated Dispensing Systems

Setting Up Inputs / Outputs

If you connected inputs / outputs, follow this procedure to test input / output connections.

NOTE: All automated dispensing systems provide 8 standard inputs and 8 standard outputs. A kit to expand to
16inputs and 16 outputs is available. Refer to “Accessories” on page 61.

PREREQUISITES

 The system is properly installed and set up. Refer to “Installation” on page 16 and “Setup” on page 34.

 Input / output wiring is properly connected. Refer to “I/O Port” on page 65 for wiring diagrams.

# Click Step

1

>

2

• Click SYSTEM SETUP > IO.

• Click the outputs you want turn ON or OFF, then click the X to close the
window.

NOTES:

• Inputs ash red when they are turned ON.

• Use only inputs / outputs 1 through 8. The remaining I/Os are reserved for the
system.

Configuring Input / Outputs for a Special Purpose

The IO Pin Function feature provides a set of user-congurable conditions that affect the operation of the robot.
Refer to “Appendix F, I/O Pin Function Setup” on page 101.

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45

EV Series Automated Dispensing Systems

Setting How the System Responds When a Mark is Absent (Optional)

Select a radio button under CAMERA > SETUP > ABSENT to adjust how the system responds when it is unable to
recognize a mark.

Radio Button Function

Skip The robot skips to the next program address.

Stop The robot stops.

Pause The robot pauses.

Ask The system asks if you want to: Find Again, Find Next, Stop Find, or use the Manual mode.

Manual The system asks you to jog the camera to the next mark and then select PAUSE to continue the

program. In this context, PAUSE means to skip the failure to recognize the mark and continue on.

Setting How the System Finds Marks (Optional)

Use the elds under CAMERA > SETUP > MATCH to adjust how the system functions when it searches for marks.

Item Function

Score Species how accurately the camera nds a mark based on a value from 0.1 to 1. A higher value results in more

Delay(s

)

Sense Species how accurately the camera aligns with the pixels of a mark based on a value from 1 to 200. When the

Fast Match If this box is checked, the camera searches for mark more quickly but with less accuracy.

precise matching. A lower value results in less precise matching.

Sets how the long system delays (in seconds) searching for a mark when it reaches the mark area.

Sense value is low, the camera is slower to align with the mark because it repeatedly checks the position of the
mark to achieve high accuracy. When the Sense value is higher, the camera aligns with the mark faster, but with
less accuracy. For example, a Sense value of 1 means the deviation cannot be more than one pixel. When the
Sense value is 200, the deviation can be up to 200 pixels.

NOTE: For a slower nd speed but better accuracy, enter lower Sense and Score values; for a faster nd speed
but less accuracy, enter higher Score and Sense values.

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46

EV Series Automated Dispensing Systems

Setting How the System Captures Z Height Values (Optional)

By default, the system does not capture the Z-height value as you move the camera over the work
surface. This is a safeguard to prevent the dispensing tip from being damaged when a workpiece
surface is uneven.

Use the Set Z to Focus checkbox in the Expert window to set the system to automatically capture
Z-height values.

# Click Step

1

> >

• Click SYSTEM SETUP > OPEN >
EXPERT.

2

3

4

5

11111111 >

>

> (2x)

• Enter 11111111, then click OK.

• Click EXPERT, then click CONTROL.

CAUTION

When SET Z TO FOCUS is NOT
checked, the tip can collide with
obstacles on uneven workpieces,
causing damage.

• In the Expert window, check SET Z
TO FOCUS.

When SET Z TO FOCUS is checked,
the system captures Z-height values.

• Click OK to save the setting, then
click OK again to conrm.

• Click EXIT to close, then reopen the
DispenseMotion software for the
change to take effect.

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47

EV Series Automated Dispensing Systems

Programming

This section provides how-to procedures for the most commonly performed programming tasks. Refer to the tutorial
at the end of this section for an example of how to use the dispensing software to create a complete program. If you
have difculty creating a program for your application, contact your Nordson EFD representative. Before using this
section:

• Complete all applicable installation tasks. Refer to “Installation” on page 16.

• Complete all required setup tasks. Refer to “Setup” on page 34.

• Refer to “Concepts” on page 22 for important robot programming concepts and for an overview of the
dispensing software screens and icons.

How to Automatically Update Offsets

Update offsets as follows:

• After the dispensing tip is changed.

• After a component on the Zaxis (such as the syringe barrel or camera) is moved or if the relationship between
the dispensing tip and/or camera is altered.

NOTES:

• On systems with the optional tip detector, both the Needle XY Adjust and Needle Z Detect buttons are present.
On systems without the optional tip detector, only the Needle XY Adjust button is present.

• When the system performs a Needle Z Detect, it also automatically performs a Needle XY Adjust.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

# Click Step

1

2

ONLY SYSTEMS WITH A TIP DETECTOR:

• Click NEEDLE Z DETECT.

NOTE: Refer to “How the System Responds to Needle Z Detect or Needle XY
Adjust” on page 44 for a detailed description of the system response to a
Needle Z Detect selection.

ONLY SYSTEMS WITHOUT A TIP DETECTOR:

• Click NEEDLE XY ADJUST.

NOTE: Refer to “How the System Responds to Needle Z Detect or Needle XY
Adjust” on page 44 for a detailed description of the system response to a
Needle Z Detect selection.

• Click YES/OK when prompted for conrmations.

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48

EV Series Automated Dispensing Systems

How to Create and Run a Program

The procedure provides the basic steps for creating and running a program. Every program is different. Use these
basic steps and refer to “How to Create Patterns” on page 51 and “Appendix A, Command Function Reference”
on page 67 to create the desired application pattern for the workpiece or group of workpieces.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 If the tip was changed, run Needle Z Detect (systems with a tip detector) or Needle XY Adjust (no tip detector).

 The system is in the correct mode (Tip or CCD).

 A workpiece is properly positioned on the xture plate.

# Click Step

1

2

• Click the PROGRAM tab.

Address 1 is available to insert a command.

• Jog the dispensing tip to a desired XYZ location by clicking the navigation
icons.

3

• Insert a setup or dispense command that tells the robot what to do. Click
a command icon, or double-click anywhere in the address line to select a
command from the drop-down menu.

4

• Edit the command parameter settings. Refer to the following sections of this
manual for information to help you create programs:

- “About Programs and Commands” on page 22 (includes best practices)

- “How to Create Patterns” on page 51

- “How to Create a Mark” on page 53

- “Appendix A, Command Function Reference” on page 67 (provides
detailed information on all commands)

5

6

7

8

or

• Repeat steps 2 through 4 until the program is complete.

• To delete a command, click the command and then click the Delete icon.

• Click END PROGRAM to end the program.

• Click VIEW or RUN to test the program and make adjustments until the
program runs correctly.

NOTE: VIEW runs a program without dispensing uid. RUN runs the actual
program, including dispensing.

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49

EV Series Automated Dispensing Systems

How to Lock or Unlock a Program

Use the Lock Program checkbox on the System Setup screen to protect a program from unauthorized editing. When
Lock Program is checked, operators can only RUN, VIEW, or PAUSE the currently open program.

# Click Step

1

• Open the program you want to lock. It should be visible when the Program
tab is selected.

2

>

3

• Click SYSTEM SETUP > OPEN. If requested, enter the password.

• Under Password, check LOCK PROGRAM to lock or unlock a program:

- If LOCK PROGRAM is checked, the currently open program will be locked
from editing and cannot be changed.

- If LOCK PROGRAM is NOT checked, the currently open program will be
unlocked and can be changed.

- If ENABLE FILE SWITCH is checked, the operator can switch programs
when LOCK PROGRAM is checked.

How to Measure a Path or Circle on a Workpiece

The system can measure the distance between two points or the diameter of a circle on a workpiece.

# Click Step Reference Image

1

• Click CAMERA to go to the camera screen.

2

3

4

• Jog the camera until the area on the workpiece
to be measured is in the camera view and then
focus the camera if needed.

• To measure a line, click the MEASURE
LENGTH icon.

• To measure the diameter of a circle, click the
MEASURE CIRCLE DIAMETER icon.

• To remove the measuring tool, right click the
center of Measure Length or Measure Circle
and then click DELETE.

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50

EV Series Automated Dispensing Systems

How to Create Patterns

The vision-guided automated dispensing software give you the ability to create patterns many ways. This part of the
manual provides example programming for some of the most common command sequences. Use these examples
as a guideline for making other patterns. Refer to “Appendix A, Command Function Reference” on page 67
for detailed information on all commands. Refer to “How to Use the Example Icon” on page 52 for some pre­programmed example programs already created in the DispenseMotion software.

Dispense Dot Sample Program

Lines and Arcs Sample Program

Line Start
point

Line End
point

Line Passing

Line Passing

point

Arc Point

point

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51

EV Series Automated Dispensing Systems

Circle Sample Program

NOTES:

• The X and Y parameters are the center of the circle.

• The diameter of the circle on the workpiece was measured as 5.5 mm. Click the Measure Circle Diameter icon
on the Camera screen to measure the diameter of a circle on a workpiece. Refer to “How to Measure a Path or
Circle on a Workpiece” on page 50.

How to Use the Example Icon

A selection of pre-programmed sets of commands are available when you click the Example icon. You can use these
programs as a starting point for any program.

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52

EV Series Automated Dispensing Systems

How to Create a Mark

Refer to “About Marks” on page 24 for an explanation of marks. If you want to use ducial marks in a program to
check workpiece orientation, create at least two marks.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 If the tip was changed, run Needle Z Detect (systems with a tip detector) or Needle XY Adjust (no tip detector).

 The system is in the CCD Mode.

# Click Step Reference Image

1

,

2

• Click Z- and Z+ to focus the camera.

• Click SET next to Focus in the Offset portion
of the Camera Setup screen.

3

• Click the CAMERA tab.

The actual camera view appears in the
Primary View screen and the Mark Library
appears in the Secondary View screen.

4

• Click SET MARK, click and drag the
crosshairs of the red square over the target,
and click and drag the red square borders to
position the square around the target.

5

• Click CENTER to center the red cross mark on
the target.

6

• Click a socket in the Mark Library to save
the mark, then click TEMPLATE when the
Template Match window appears.

The mark is now set.

You can specify any mark in the Mark Library
within a Find Mark or Fiducial Mark command by
entering the mark number (No.) in the Parameter
Input window. Refer to “How to Use Marks or
Fiducial Marks in a Program” on page 54.

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53

EV Series Automated Dispensing Systems

How to Use Marks or Fiducial Marks in a Program

Use the Mark command in a program as follows:

• To conrm the presence or absence of a workpiece.

• To conrm that the correct workpiece is present.

• To check the XY position of a workpiece.

Use two Fiducial Marks in a program as follows:

• To move the dispensing tip to a specic target area on the workpiece.

• To check the XY orientation of a workpiece. The system automatically adjusts the program to compensate for
any changes in orientation.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 The system is in the CCD Mode.

# Click Step

1

2

• Determine whether you need to create one mark or two and then create the
marks. Refer to ”How to Create a Mark” on page 53 for the procedure for
creating marks.

• Enter a Find Mark command or two Find Fiducial Mark commands near the
beginning of a program.

3

• If the program includes a Step & Repeat command, use the Mark Adjust or
Fiducial Mark Adjust commands.

4

• Refer to the sample program below as a guideline.

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54

EV Series Automated Dispensing Systems

How to Dispense on Multiple Workpieces in an Array

Use the Step & Repeat commands to dispense the same pattern on multiple workpieces in an array.

NOTE: You can use the Block Start icon to disable dispensing for workpieces not present. Refer to “How to Disable
Dispensing for Specic Workpieces in an Array” on page 56.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 If the tip was changed, run Needle Z Detect (systems with a tip detector) or Needle XY Adjust (no tip detector).

 The system is in the CCD Mode.

 Multiple workpieces are properly positioned on the xture plate.

# Click Step

1

>

2

• Click the PROGRAM tab, then click the Example icon and select FIND MARK
+ STEP REPEAT. Click YES when prompted for conrmation.

A sample Step & Repeat X program appears.

NOTE: You can also use Step & Repeat Y to dispense onto multiple pieces in
an array. Refer to “Appendix A, Command Function Reference” on page 67
for detailed information on both Step & Repeat commands.

• Jog the dispensing tip to the rst workpiece in the array and create a mark.
Refer to “How to Create a Mark” on page 53 as needed.

3

• Double-click the FIND MARK command and enter the number of the mark
created in step 2.

4

• Double-click the remaining commands and enter the parameters that will
work for your array. Refer to “Appendix A, Command Function Reference” on
page 67 for detailed information on commands.

5

6

• Click END PROGRAM to end the program.

• Test the program and make adjustments until the program runs correctly.

or

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55

EV Series Automated Dispensing Systems

How to Disable Dispensing for Specific Workpieces in an Array

You can use the Block Start icon to disable or enable dispensing for specic workpieces in an array.

NOTE: Use the Step & Repeat commands to create a program that dispenses the same pattern on multiple
workpieces in an array. Refer to “How to Dispense on Multiple Workpieces in an Array” on page 55.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 The system is in the CCD Mode.

 Multiple workpieces are properly positioned on the xture plate.

 The correct Step & Repeat program for the array on the xture plate is open.

# Click Step

1

• Make sure the Program screen is open.

2

• Click the BLOCK START icon.

The Run Block Select window appears.

3

• To disable dispensing for specic workpieces, click the workpiece locations
in the window. Selections turn red when disabled.

- Green: Enabled

- Red: Disabled

• Leave the Run Block Select window open during dispensing.

4

• When dispensing is complete, close the Run Block Select window. The
system clears all disabled selections.

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56

EV Series Automated Dispensing Systems

How to Set Up Auto Purge, Program Cycle Limits, or Fluid Working Life Limits

The System Setup screen includes the following automatic functions that can be applied to any program. These
functions operate correctly only when the following conditions are met:

• The Enable checkbox for the function is checked.

• The program is locked (refer to “How to Lock or Unlock a Program” on page 50).

Function Screen Capture Description

Auto Purge

Run Limit

Fluid Working
Life

If Auto Purge is enabled, the system performs an automatic purge at the
Park Position using the values entered for Wait Time and Purge Time:

• Wait Time: How long the system must be idle (robot START button not
pressed) before Auto Purge begins.

• Purge Time: How long the system purges in intervals of 1 second.

EXAMPLE: If Auto Purge is enabled with the values shown at left, the
system automatically dispenses uid for 1 second every 10 seconds at
the specied Park Position.

If Run Limit is enabled for a program, the number of times the system
runs a program (called a program cycle) is limited according to the
values entered for Amount and Count:

• Amount: Sets the number of times a program can run.

• Count: Shows how many times a program has run.

To reset Amount and Count to 0, click RESET.

Sets the maximum number of minutes that a uid should be in the
system (also known as pot life). When the value entered for Max Duration
is reached, the system provides an indication but does not disable
operation.

To reset Max Duration to 0, click RESET.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 The program to which you want to apply Auto Purge, Run Limit, or Fluid Working Life settings is complete and

operating properly.

# Click Step

1

>

2

>

3

4

5

6

• Click PROGRAM > OPEN to open the program to be updated.

• Click SYSTEM SETUP, then click OPEN.

• Refer to the table above to enter settings for Auto Purge, Run Limit, or Fluid
Working Life.

• Click the ENABLE checkbox for the function you want to enable for the open
program.

• Lock the program (refer to “How to Lock or Unlock a Program” on page

50).

• To restart a program cycle after Run Limit or Fluid Working Life values are
exceeded, repeat steps1–2, enter the password, and click RESET.

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EV Series Automated Dispensing Systems

How to Use Point Offset to Adjust All Points in a Program

You can click the Point Offset icon to update all points in a program when the position of a workpiece has changed.

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 The program to be updated was correct and working properly before the workpiece position was changed.

# Click Step

1

>

2

3

4

• Click PROGRAM > OPEN to open the program to be updated.

• Click the POINT OFFSET icon.

The Offset window appears.

• Compare the previous XYZ position of one point in the program to its new
XYZ position and determine the amount of offset for each XYZ value.

• Enter the offset values in the X, Y, and Z elds of the Offset window and
update the other elds in this window as follows:

- To limit the XYZ offset changes to a specic range of addresses in the
program, enter the address number range under RANGE.

- To select all the addresses in the program, click SELECT ALL.

- To select only a specic type of command, use the drop-down menu.
Otherwise, leave this selection as EMPTY.

EXAMPLE: The XYZ coordinates of a point were 1, 2, and 3. The new XYZ
coordinates of that same point are now 6, 7, and 8. The amount of offset for
each point equals 5, so you enter “5” in the X, Y, and Z elds in the Offset
window.

NOTE: “Unit: mm” indicates the unit of measure used in commands. This
item is not editable.

5

• Click OK.

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58

Operation

After the system is installed and programmed, the only actions required
from the operator are to switch on the system, run the program for the
workpiece, and shut down the system at the end of the work period.

Starting the System and Running a Program

1. Switch on the DispenseMotion controller, monitor, and
robot.

2. Double-click the DispenseMotion icon to open the
dispensing software.

3. Click HOME.

The robot moves the camera to the home position (0,0,0)
and the system is ready.

EV Series Automated Dispensing Systems

4. If you connected the joystick and want to use it, click the JOYSTICK
icon to enable it. The icon turns yellow when the joystick is enabled.
For more information on using the joystick, refer to “Joystick” on page

15.

5. Enable the dispensing system, including the valve controller. Refer to
the dispensing equipment manuals as needed.

6. Open the program le for your application.

7. Place the workpiece in the correct location on the
xture plate.

8. Press the START button on the front of the robot, or
click RUN on the monitor.

9. When necessary, refer to the dispensing system
manuals to rell the dispenser.

10. If an emergency occurs, press the EMERGENCY STOP button.

START button

EMERGENCY
STOP button

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59

EV Series Automated Dispensing Systems

Running a Program by Scanning a QR Code

PREREQUISITES

 QR code scanning is enabled. Refer to “Appendix C, QR Code Scanning Setup” on page 89 to enable QR

code scanning.

 A QR code is present on the robot work surface and is associated with a program. Refer to “Appendix C, QR

Code Scanning Setup” on page 89 to associate a QR code with a program.

1. Position the workpiece on the xture plate.

2. Press the START button on the front of the robot, or click RUN on the monitor.

The system jogs to the predened location where a QR code is located, scans the QR code, opens the
associated program, and executes the program.

Pausing During a Dispense Cycle

Press START at any time to pause the system during a dispense cycle; the pauses at its current position.

NOTE: If the system is paused when the dispenser is open, pattern integrity will be compromised.

Purging the System

To purge the system, press the DISPENSER PURGE button.

NOTE: You can set up the system to purge automatically. Refer to “How to Set Up Auto Purge, Program Cycle
Limits, or Fluid Working Life Limits” on page 57.

Shutting Down the System

1. Click SYSTEM SETUP > EXIT to close the DispenseMotion
software. If prompted to save a le, select YES or NO.

2. Switch off the following components:

• DispenseMotion controller

• Monitor

• Robot

3. Refer to the dispensing system manuals for any special
shutdown instructions.

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60

EV Series Automated Dispensing Systems

Accessories

NOTE: For replacement parts, refer to the robot maintenance instructions available at www.nordsonefd.com.

Pre-Configured Output Cables

Part # Description

7360551 Standard cable to connect the dispenser and the robot

7360761 Single voltage initiate cable to connect the dispenser and the robot (provides different pigtails to

connect to different dispensers / controllers)

7360554 Dual voltage initiate cable to connect up to two dispensers / controllers to the robot

®

7360558 Dual-connector cable to connect up to two PICO

controllers to the robot

7362356 Dual-connector cable to connect up to two Liquidyn

7362357 Dual-connector cable to connect up to two Liquidyn V100 controllers to the robot

7362373 Single-connector cable to connect a Liquidyn V200 controller to the robot

Fixture Plates

DCON Drivers or two PICO Toµch™

®

V10 controllers to the robot

All plates include four edge levelers and four leveling mounts.

Part # Description

7028276 200 mm xture plate

7028277 300 mm xture plate

7028278 400 mm xture plate

7028279 500 mm xture plate

Start / Stop Box

The start / stop box accessory facilitates input / output connections for remote functions, such as an start or
emergency stop button. Refer to “Example Input / Output Connections” on page 66 for schematics.

Part # Description

7361673 Start / stop accessory box, standard

7360865 Start / stop accessory box, European Community

Tip Detector

The optional tip detector allows you to automatically update both the XY offsets and the
Z height by clicking on Needle Z Detect. The Needle Z Detect button is present only on
systems that include the tip detector. Refer to “(Only EV Systems With a Tip Detector)
Setting Up the Tip Detector” on page 38 to set up the tip detector.

Part # Description

7360893 Tip detector accessory kit, EV Series

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61

EV Series Automated Dispensing Systems

Accessories (continued)

Height Sensor

The optional height sensor can detect any variation from the original Z height program values from workpiece to
workpiece. If the Z height changes, the system detects the new Z height value adjusts the program accordingly.
Refer to “Appendix E, Height Sensor Setup and Use” on page 97 to install and use the height sensor.

Part # Description

7361667 Height sensor accessory kit, E/ EV Series

Mounting Brackets

Item Part # Description

7360610

7361815

7360613

7361758

Syringe barrel mounting
bracket

Mounting bracket for
PICO Pµlse™ valves

Mounting bracket for all
valves with mounting
holes (752, 754, 725,
741, 736, 781, 787, and
782 Series valves)

Universal valve
mounting bracket for all
valves without mounting
holes (702, 794, and
784SS Series valves)

Item Part # Description

7360952

7362177

7360796 Equalizer bracket

Mounting bracket for the
Ultimus IV dispenser

Mounting bracket for
Liquidyn P-Jet and
P-Dot valves

Mounting bracket for

7361114

7361757

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62

xQR41 and 745 Series
valves

Mounting bracket for
radial spinner valves

7360609

EV Series simple vision
bracket

Technical Data

Dimensions

EV Series Automated Dispensing Systems

A

B

C

Dimension E2V E3V E4V E5V E6V

A (width) 480 mm (19") 595 mm (23") 695 mm (27") 795 mm (31") 915 mm (36")

B (height) 435 mm (17") 538 mm (21") 638 mm (25") 717 mm (28") 717 mm (28")

C (depth) 510 mm (20") 645 mm (25") 645 mm (25") 815 mm (32") 815 mm (32")

Mounting Hole Template

Use these dimensions to drill mounting holes for the robot feet.

A

B

4 x M5 tapped holes

Dimension E2 E3 / R3 E4 / R4 E5 E6 / R6 PRO4

A

B

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302 mm
(11.88")

300 mm
(11.81")

400 mm

(15.75")

410 mm

(16.14")

500 mm

(19.69")

510 mm

(20.08")

500 mm

(19.69")

510 mm

(20.08")

500 mm

(19.69")

510 mm

(20.08")

535 mm

(21.06")

480 mm

(18.90")

63

EV Series Automated Dispensing Systems

Technical Data (continued)

Wiring Diagrams

Dispenser Port

Pin# Description

1 NOM (Normally open)

2 COM (Common)

3 EARTH (Ground)

+24V

Relay

Maximum Voltage Maximum Current

125 VAC 15A

250 VAC 10A

28 VDC 8A

1 3

Pin 1

Pin 3

Pin 2

2

Ext. Control Port

NOTES:

• Inputs are not polarity-sensitive.

• The optional start / stop box accessory facilitates input / output connections to this port. Refer to “Start / Stop

Box” on page 61 for part numbers.

Pin Description

1 Ground

2 Start signal

3 Motor power

4 Motion idle

5 Run / Teach

6 Emergency stop

7 Emergency stop

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64

1

7

EV Series Automated Dispensing Systems

Technical Data (continued)

I/O Port

NOTES:

• Outputs are rated at 125 mA.

• Courtesy +24 VDC output is rated at 3.0 Amp.

Pin Description Pin Description Pin Description

1 Input 1 10 Not connected 19 Output 6

2 Input 2 11 GND 20 Output 7

3 Input 3 12 GND 21 Output 8

4 Input 4 13 GND 22 Not connected

5 Input 5 14 Output 1 23 Not connected

6 Input 6 15 Output 2 24 +24 VDC

7 Input 7 16 Output 3 25 +24 VDC

8 Input 8 17 Output 4

9 Not connected 18 Output 5

+24V

Pin 25

Input X

Input schematic Output schematic

+24V

Output X

Pin 13

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65

EV Series Automated Dispensing Systems

Technical Data (continued)

Example Input / Output Connections

You can use the I/O Port and Ext. Control port on the back of the robot to connect a variety of inputs and outputs. A
spare connector is also provided with the system. The following schematics show typical examples of input / output
connections to a robot.

Inputs

Robot

I/O Port

Robot

I/O Port

Pin 25

+24VDC

Pin 1

Input 1

Pin 2

Input 2

Pin 11

Ground

SW1

PLC Output (+24V)

PLC

PLC Ground

External Device Powered by the Robot

Robot

I/O Port

Pin 24

+24VDC

Pin 11

Ground

Courtesy +24 VDC output is rated at 3.0 Amp.

Device

Outputs

Robot

I/O Port

Robot

I/O Port

Pin 14

Output 1

Pin 11

Ground

Pin 15

Output 2

Pin 11

Ground

LED 1

+24V In

Ground

Outputs are rated at 125 mA.

Device

Start and Emergency Stop (ESTOP) Connections to Ext. Control

Ext. Control port

Ext. Control port

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66

Pin 2

Start signal

Pin 1

Ground

Pin 6
Emergency

stop

Pin 7
Emergency

stop

SW1

ESTOP

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference

This appendix provides detailed information for each setup and dispense command. Commands are in alphabetical
order.

The following rules apply to all commands:

• A command is in effect until it is superseded by another command.

• Command settings override system settings.

Acceleration

Click Function

Controls the acceleration of the robot from point to point (ptp) or along a continuous path (cp). In general, the

Arc Point

Click Function

value of this parameter is inversely related to the robot’s acceleration.

Parameter Description

0:ptp 1:cp Toggles the acceleration control between point to point (ptp) or continuous path (cp).

Value Sets the rate of acceleration from point to point or on a continuous path.

Range: 20–500

Registers the current XYZ location as an Arc Point. Arc Points dispense uid along an arched path.

Backtrack Setup

Click Function

Sets how the dispensing tip raises at the end of line dispensing. This is useful for high-viscosity or stringy
uids to control where the uid tail falls. The illustrations on the next page provide visual a representation of the
Backtrack Setup selections.

Parameter Description

Backtrack Length Distance the dispensing tip travels away from the Line End point.

Backtrack Gap Distance the dispensing tip raises as it moves away from the Line End point. This value

Backtrack Speed Speed at which the dispensing tip moves either (1) back and up along the retract path

Type

must be less than the Z Clearance value for that point.

to reverse direction after line dispensing or (2) forward and up at an angle after line
dispensing.

0 or blank (Normal) The dispensing tip moves straight up for the height entered for

Backtrack Gap.

1 (Back) The dispensing tip moves backward at an angle for the distance and

height entered for Backtrack Length and Backtrack Gap.

2 (Square Back) The dispensing tip moves up and then back at the distance and height

entered for Backtrack Length and Backtrack Gap.

3 (Forward) The dispensing tip moves forward at an angle for the distance and

height entered for Backtrack Length and Backtrack Gap.

4 (Square Forward) The dispensing tip moves up and then forward for the distance and

height entered for Backtrack Length and Backtrack Gap.

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67

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Backtrack Setup (continued)

0 or blank (Normal)

Backtrack Gap

1 (Back)

Backtrack Gap

Backtrack
Length

2 (Square Back)

3 (Forward)

4 (Square Forward)

Backtrack Gap

Backtrack
Length

Backtrack Gap

Backtrack
Length

Backtrack Gap

Backtrack
Length

Example illustrations of Backtrack Setup

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68

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Call Pattern

Click Function

Double-click
address and
select from
drop-down
menu

Causes the system to dispense in a pattern that is like another pattern in the program, but at the location in
the program where the Call Pattern command occurs. The called pattern must have a Label assigned to it. The
system stops dispensing the called pattern when it reaches an End Pattern command.

Example of a program that includes a Call Pattern command

Call Subroutine

Click Function

Double-click
address and
select from drop­down menu

A subroutine is a set of commands that is located after the end of the program. Call Subroutine causes
the program to jump to the subroutine at a specied address and then to execute the commands at that
address. When the End Subroutine command (which is inside the subroutine) is reached, the program
continues at the address that immediately follows the Call Subroutine command. Call Subroutine is
most useful for repeating a pattern anywhere on the same workpiece (as opposed to the Step & Repeat
command, in which a pattern is repeated on separate workpieces that are arranged in straight lines and at
xed distances from each other).

Example of a program that includes a Call Subroutine command

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69

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Circle

Click Function

Registers a circle with the circle’s center at the current XYZ location

Parameter Description

Diameter The diameter of the circle (in mm)

Start Angle The angle (in degrees) from the center of the circle where the start of the circle begins. The

End Angle The angle (in degrees) after the Start Angle value at which dispensing stops.

Dispense Dot

Click Function

Registers the current XYZ location as a Dispense Dot point.

default of 0 degrees equates to the 3:00 position.

Default: 0 (degrees)
Range: 0 to 360

NOTE: You can enter a negative value. For example, if you enter -90, the circle start point will
be the 12:00 position.

Default: 0 (degrees)

To dispense in a counterclockwise direction, enter a negative value.

Dispense Dot Setup

Click Function

Sets how the system dispenses a dot of uid.

Parameter Description

Valve On Time How long the dispenser stays open (in seconds).

Dwell Time Delay time (in seconds) that occurs at the end of dispensing to allow the pressure to equalize

before the tip moves to the next point.

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70

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Dispense End Setup

Click Function

After dispensing a dot or line, it is often required to raise the tip a short distance at a slow speed. This allows the
uid to cleanly break free from the tip to prevent it from being incorrectly applied. The parameters for Dispense
End Setup affect how far and how fast the tip raises after dispensing.

Parameter Description

Retract Low Speed

Retract High Speed After the tip raises the amount specied by Retract Distance at the speed specied by

Retract Distance The distance (in mm) the tip raises after dispensing.

The speed (in mm/s

Retract Low Speed, the tip continues raising to the Z-clearance height at the speed (in
mm/s2) specied by this setting. The purpose of specifying a Z-clearance height is to

allow the tip to raise high enough to clear any obstacles it encounters on the way to the
next point.

2

) at which the tip raises after dispensing.

Retract
High Speed to
Z Clearance

Z Clearance

Example illustration of Dispense End Setup

height

Retract
Distance at
Retract Low
Speed

Dispenser Off / Dispenser On

Click Function

Turns the dispenser OFF or ON at the current address.

or

Dummy Point

Click Function

Registers the current XYZ location as a Dummy point. The dispensing tip passes through this point. A dummy
point is useful for avoiding obstacles on the workpiece.

End Pattern

Click Function

Double-click
address and
select from
drop-down
menu

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Used in tandem with Call Pattern to return the program to the address that occurs just after a Call Pattern
command.

71

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

End Program

Click Function

Registers the current address as the end of the program. End Program returns the dispensing tip to the home
position (0,0,0).

End Subroutine

Click Function

Double-click
address and
select from
drop-down
menu

Fiducial Mark

Click Function

Used in tandem with Call Subroutine to return the program to the address that occurs just after a Call Subroutine
command.

Causes the system to search for the two ducial marks specied in the No. (number) eld of each Fiducial Mark
command. The two ducial marks are then used by the Fiducial Mark Adjust command to adjust the dispensing
program accordingly for any orientation changes between workpieces.

NOTES:

• For the best results, enter Fiducial Mark commands before any dispense or setup commands.

• Two Fiducial Mark commands must be present in a program for the system to perform this adjustment function
correctly.

• A Fiducial Mark is different from a Find Mark. A Find Mark is used only to check the XY position of a workpiece
whereas a Fiducial Mark is used to check the orientation of a workpiece.

• Refer to “About Marks” on page 24 for more information on marks.

Fiducial Mark Adjust

Click Function

Double-click
address and
select from
drop-down
menu

Adjusts the program (from one workpiece to another) for any XY orientation changes in workpiece placement.
The system determines orientation correctness by nding two Fiducial Marks. Refer to “Fiducial Mark” on page

72.

NOTES:

• This command is used only in conjunction with a Step & Repeat command.

• Two Fiducial Mark commands must be present in a program for the system to perform this adjustment function
correctly.

• Refer to “About Marks” on page 24 for more information on marks.

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72

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Fill Area

Click Function

Fills a dened area in a specic way using the specied Width and Band parameters. Refer to the explanations
below this table for an example of each Fill Area type.

Parameter Description (see illustration examples)

Type (see below for an
example of each)

Width The distance (in mm) between the center of the bead being dispensed and the bead that

Band The width (in mm) the completed ll must be (from one end to the other).

1. Rectangle (S path)

2. Circle

3. Rectangle

4. Rectangle Band

5. Circle Band

6. Rectangle (inner to outer)

7. Circle (inner to outer)

spirals next to it.

Fill Area: 1. Rectangle (S path)

This command lls the dened area by passing the tip back and forth along the X axis (in an S-shaped path) at the specied Band
distance while moving the Y axis the specied Width distance after each pass along the X axis. After entering a Fill Area Rectangle
command, enter a Line Start point at the top left corner of the area to be lled and a Line End point at the bottom right corner of
that area.

Line Start

Fill Area

Line End

EXAMPLE: if a Width of 5 mm is entered, the tip makes the following path:

Width = 5 mm

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Appendix A, Command Function Reference
(continued)

Fill Area: 2. Circle

This command lls the dened area by moving the tip along a spiral path from the outside of the circle to the center. After entering
a Fill Area Circle command, jog the tip to a point on the outside limit of the circle to be lled and enter that location as a Line Start
point. Then jog the tip directly across to the center of the circle and enter that location as a Line End point.

Fill Area

Line Start

EXAMPLE: if a Width of 5 mm is entered, the tip makes the following path:

Width = 5 mm

Line End

Fill Area: 3. Rectangle (Outer to Inner)

This command lls the dened area by moving the tip along a square, spiral-shaped path from the outside of the rectangle to the
center. After entering a Fill Area Rectangle command, enter a Line Start point at the top left corner of the area to be lled and a
Line End point at the bottom right corner of that area.

Line Start

Fill Area

Line End

EXAMPLE: If a Width of 5 mm is entered, the tip makes the following path:

Width = 5 mm

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EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Fill Area: 4. Rectangle Band

This command lls a rectangular band area by moving the tip along a square, spiral-shaped path from the outside of the rectangle
to the center. After entering a Fill Area Rectangle Band command, enter a Line Start point at the top left corner of the area to be
lled and a Line End point at the bottom right corner of that area.

Line Start

Line End

EXAMPLE: If a Width of 5 mm and a Band of 15 mm are entered, the tip makes the following path:

Band = 15 mm

Width = 5 mm

Fill Area: 5. Circle Band

This command lls a dened circular band area by moving the tip along a spiral path from the outside of the circle to the center.
After entering a Fill Area Circle Band command, jog the tip to a point on the outside limit of the circle to be lled and enter that
location as a Line Start point. Then jog the tip directly across to the center of the circle and enter that location as a Line End point.

Fill Area

Line EndLine Start

EXAMPLE: If a Width of 5 mm and a Band of 15 mm are entered, the tip makes the following path:

Width = 5 mm

Band = 15 mm

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Appendix A, Command Function Reference
(continued)

Find Angle Mark

Click Function

Double-click
address and
select from
drop-down
menu

Find Mark

Click Function

Used in tandem with Fiducial Marks to cause the system to search for a change in the XY orientation of a
workpiece by searching in an angle-shaped area on the workpiece. If a change is found, the system adjusts the
dispensing program accordingly.

EXAMPLE: If Start Angle = 0 and End Angle = 90, the system searches for marks within the specied angle­shaped area. If a workpiece differs from the previous workpiece within that area, the system adjusts the
dispensing program accordingly. If the system cannot nd the marks within the specied angle-shaped area, it
skips the workpiece.

Parameter Description

Start Angle The angle (in degrees) at which the systems starts searching.

End Angle The angle (in degrees) at which the system stops searching.

Causes the system to search for the mark specied in the No. (number) eld of a Find Mark command. The mark
is then used by the Mark Adjust command to adjust the dispensing program accordingly for any XY position
changes between workpieces.

NOTES:

• Only one Find Mark is required in a program for the system to perform this function correctly.

• A Find Mark is different from a Fiducial Mark. A Find Mark is used only to check the XY position of a workpiece

• Refer to “About Marks” on page 24 for more information on marks.

Goto Address

Click Function

Causes the program to jump to the specied address.

Goto Label

Click Function

Causes the program to jump to the address in the program that has the specied label.

whereas a Fiducial Mark is used to check the orientation of a workpiece.

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Appendix A, Command Function Reference
(continued)

Height Sensor

Click Function

Double-click
address and
select from
drop-down
menu

Initialize

Click Function

Input

Click Function

Measures the height of an object on a workpiece where a dispense dot is to be placed; the measured data is
then used to adjust dispensing accordingly for any height changes between workpieces.

NOTE: For this functionality, the optional height sensor must be installed and set up. Refer to”Appendix E, Height
Sensor Setup and Use” on page 97 for all information related to the height sensor.

Causes the robot to perform an initialization. The dispensing tip moves to the home position (0,0,0) and the robot
relocates the home position using the home position sensors.

Causes the program to check for an input signal at the specied port and to turn the input ON or OFF.

Parameter Description

Port(1~8) Sets the input port number.

0 Off, 1 On Turns the input OFF or ON.

Address or
Label

Label

Click Function

Registers a numeric label that can be used as a reference in the Goto Address, Goto Label, Loop Address, Step
& RepeatX, Step & Repeat Y, and Call Subroutine commands. Using a Label is a good alternative to using an
address number because a Label does not change when commands are inserted or removed. A maximum of 64
labels is allowed per program; each label can have up to 8 characters.

Causes the program to check the input at the specied address or label. Click Change to toggle
between Address and Label.

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Appendix A, Command Function Reference
(continued)

Line Dispense Setup

Click Function

Sets how the system dispenses a line of uid. When dispensing high-viscosity uids, there is often a delay
between when the dispenser opens and when uid begins to ow. Use the Line Dispense Setup parameters to
compensate for this delay.

Parameter Description

Pre-move
Delay

Settling
Distance

Dwell Time Delay time that occurs at the end of a line after the dispenser closes to allow the pressure to

Node Time Delay time that occurs only for a Line Passing command. The dispensing tip passes through

Shutoff
Distance

Shutoff
Delay

The time the dispenser stays open at the start of a line before moving. This delay time prevents
the tip from moving along the line until uid is owing.

The distance the robot moves from the beginning of a Line Start before the dispenser turns on.
This distance allows the robot sufcient time to build speed and is used primarily to eliminate the
deposit of too much uid at the beginning of a line.

equalize before the tip moves to the next point.

the Line Passing point and waits at the Line Passing point, with the dispenser activated, for the
specied time period.

The distance before the end of a line when the dispenser closes to prevent excess uid from
being deposited at the end of the line, as shown in the illustration below.

The time the dispenser stays open after it stops at the end of a line.

Illustration of the Shutoff Distance parameter

Line End

Click Function

Registers the current XYZ location as a Line End point.

NOTE: The correct sequence of commands for a line is as follows: (1) Line Start, (2) Line Passing, (3) Line End.

Line Passing

Click Function

Registers the current XYZ location as a Line Passing point. This is a location on a line where the dispensing tip
changes direction, such as at the corner of a rectangle.

NOTES:

• The correct sequence of commands for a line is as follows: (1) Line Start, (2) Line Passing, (3) Line End.

• Also use a Line Passing point before and after an Arc Point command.

Tip continues moving to the end of the lineDispenser turns off here

Shutoff Distance

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Appendix A, Command Function Reference
(continued)

Line Speed

Click Function

Sets the speed (in mm/s) at which the dispensing tip travels at the location in the program where this command
is inserted, thus overriding the default system line speed setting.

Line Start

Click Function

Registers the current XYZ location as a Line Start point for line dispensing.

NOTE: The correct sequence of commands for a line is as follows: (1) Line Start, (2) Line Passing, (3) Line End.

Loop Address

Click Function

Double-click
address and
select from
drop-down
menu

Loops the program back to a specic Address (A) or Label for the number of times set for Count.

Parameter Description

Address The Address (A) or Label number the program jumps to. The jump-to Address (A) or Label must

occur before the current address.

Count The number of times to execute the loop.

Mark Adjust

Click Function

Double-click
address and
select from
drop-down
menu

When used in tandem with the Find Mark command, causes the system to search for the mark specied in the
No. (number) eld of the Find Mark command. When the system nds the mark, it checks the XY position of the
workpiece and adjusts the dispensing path accordingly.

Multi Needle

Click Function

Double-click
address and
select from
drop-down
menu

In multiple dispenser installations, species the dispenser (called Needle Number) to execute the commands that
follow this command. Currently up to ve dispensers can be installed, so the Needle Number parameter can be
1–5.

NOTE: For this function to operate correctly, the additional dispensers must be installed and set up. Refer to
“Appendix D, Multi-Needle Setup and Use” on page 92.

Output

Click Function

Causes the program to send an output signal from the specied output port.

Parameter Description

Port(1~8) Sets the output port number.

0 Off, 1 On Turns the output OFF or ON.

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Appendix A, Command Function Reference
(continued)

Park Position

Click Function

Moves the dispensing tip to the park position specied by the Park Position settings on the System Setup
screen.

Ptp (Point to point) Speed

Click Function

Double-click
address and
select from
drop-down
menu

QA Capture

Click Function

Double-click
address and
select from
drop-down
menu

Sets the acceleration (as a percentage) of the robot from point to point at the location in the program where this
command is inserted, thus overriding the default system point-to-point speed setting.

Saves the image seen by the camera at the XYZ coordinates specied for the command. Images are saved under
D:\ever_sr\history.

Each time a QA Capture command is executed, the system creates a subdirectory (under D:\ever_sr\history) that
is named for the day the command was executed. The le path for the saved QA images is:

D:\ever_sr\history \eXXXX_YY\QAImage_ZZ, where XXXX = year, YY = month, and ZZ = day of month

Directory structure created by the QA Capture command Example of saved QA Capture images

Setup Dispense Port

Click Function

Double-click
address and
select from
drop-down
menu

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Allows you to turn on multiple output ports at the same time. For example, to turn on ports 1, 2, and 3, enter
“1.2.3” (with periods between the port numbers, no spaces). The default setting is port 0.

EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Step & Repeat X

Click Function

Enables the repeat of the dispensing pattern onto many identical workpieces that are mounted on a xture and
aligned in rows and columns.

Parameter Description (see illustrations below)

X Offset The distance (in mm) between each workpiece in the X direction.

Y Offset The distance (in mm) between each workpiece in the Y direction.

Columns (X) The number of columns in the X direction.

Rows (Y) The number of rows in the Y direction.

1.S Path or

2.N Path

Label
(default) or
Address

The path of pattern travel. Select “1.S Path” for an S-shaped pattern or “2.N Path” for an
N-shaped pattern.

The label or address where the Step & Repeat X command begins.

Column (X)

Row (Y)

X Offset
(in mm)

Y Offset

(in mm)

Example of X and Y offsets in a Step & Repeat command

Step & Repeat X, S Path Step & Repeat X, N Path

Difference between the “1.S Path” and “2.N Path” selections

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EV Series Automated Dispensing Systems

Appendix A, Command Function Reference
(continued)

Step & Repeat Y

Click Function

Works exactly like Step & Repeat X except that priority is given to the Y axis instead of to the X axis, as shown
below.

Step & Repeat, X Axis Direction Step & Repeat, Y Axis Direction

Difference between Step & Repeat X and Step & Repeat Y

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Appendix A, Command Function Reference
(continued)

Stop Point

Click Function

Registers a Stop Point at the current XYZ location. When this command occurs, the dispensing tip moves to the
registered location and waits until the START button is pressed.

Wait Point

Click Function

Registers a Wait Point at the current XYZ location. When this command occurs, the dispensing tip moves to the
registered location and waits for the specied Wait Time (in seconds).

Z Clearance Setup

Click Function

Species the height to which the dispensing tip raises after each dispense command. The purpose of Z
Clearance is to raise the tip high enough so that it clears all obstacles as it moves from one point to another.
If there are no obstacles between any of the points, a small Z Clearance value, such as 5mm, can be used to
minimize the program cycle time.

Z Clearance is further dened as an absolute value (0) or a relative value (1) . When specied as a relative value,
it is the distance the tip raises relative to the taught point location. When it is specied as an absolute value, it is
the distance from the Z axis zero position to which the tip raises regardless of the Z-axis value of the taught point
location.

Nordson EFD recommends inserting a Z Clearance command at the beginning of a program.

Parameter Description (see illustrations below)

Value The distance (in mm) the tip raises after dispensing.

0(Abs), 1(Rel) How the tip raises: 0(Abs) = absolute, 1(Rel) = relative.

Z Clearance = 10 mm relative Z Clearance = 10 mm absolute

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Appendix B, DXF File Import

This appendix provides an overview of the DXF screen components and the procedure for importing DXF les.

Overview of the DXF Screen

Icon
Name

Open a File

Show All
Layers

Hide All
Layers

See All

Zoom

Select All

Icon Function

Opens a le

Shows all layers of the
open DXF le

Hides all layers of the
open DXF le

Compresses or resizes
the display so that all
points of the open DXF
le are displayed in
the viewing area of the
screen

Zooms to the selected
area

Selects all the points in
the DXF le

Icon
Name

Range of
Select

Select
Directly

Cancel
Select

Point
Dispense

Line
Dispense

Option

Icon Function

Selects only the points
within the area of the
rectangle

Selects one element

Cancels any selections

Inserts Dispense Dot
commands for all the
selected points on an
imported DXF image

Inserts line dispense
commands for all the
selected shapes on an
imported DXF image

Refer to “Setting DXF
Import Preferences” on
page 85.

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EV Series Automated Dispensing Systems

Setting DXF Import Preferences

Click the OPTION icon on the DXF screen to set DXF import preferences.

Item Description

Distance of points (mm) Species the distance between any two points on a curve when the curve is converted

to coordinates. For example, when this value is set to 1 and a 10-mm long curve is
converted to commands, the result will be a series of Line Start, Line Passing, and
Line End commands that will produce a curve with a total of 11 points.

Offset X, Y After you create program commands using Point Dispense or Line Dispense, the

resulting XY values may be negative numbers. This causes the imported points
to display off the grid when viewed on the Secondary View screen. To resolve this
issue, enter X and/or Y values in the offset elds of the Option window such that the
imported XY values change to positive values. For example, if an imported XY value is

-150, -150, 0, then enter 200 for Offset X and 200 for offset Y, click OK, and then click
the Point Dispense or Line Dispense icon again to refresh the values. The new values
will be 50, 50, 0 and the points will be visible on the Secondary View screen grid when
you go to the Program screen.

Inch > mm (X 25.4) Toggles the display of units between metric and English. Check if you want to display

units in mm.

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Importing a DXF File

PREREQUISITES:

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 If the tip was changed, run Needle Z Detect (systems with a tip detector) or Needle XY Adjust (no tip detector).

 The system is in the correct mode (Tip or CCD).

 The DXF le for the workpiece is located on the DispenseMotion controller.

 The actual workpiece is properly positioned on the xture plate.

# Click Step Reference Image

1

2

• Click DXF.

The DXF screen appears in the Primary
View screen.

• Open the DXF le you want to convert
to a program.

The le appears in the Primary View
screen.

3

or

4

• To hide or show layers, click HIDE ALL
LAYERS or SHOW ALL LAYERS.

• Select the points and/or lines onto
which you want to dispense material.
Refer to “Overview of the DXF Screen”
on page 84 for an explanation of all
the selection icons.

5

or

• Click POINT DISPENSE (for dispense
dots) or LINE DISPENSE (for lines, arcs,
and circles).

The system generates the program
commands that will create the selected
pattern.

Continued on next page

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EV Series Automated Dispensing Systems

Importing a DXF File (continued)

# Click Step Reference Image

6

>

7

8

• Click the PROGRAM tab, select an
empty Address line, then click PASTE.

The commands appear in the Program
screen.

• Click REFRESH next to the Secondary
View screen to show the imported
points and lines and make changes as
needed to the program.

The next step is to match the program
commands to the actual workpiece.

NOTES:

• After making any change to the
program, click REFRESH to update the
view in the Secondary View screen to
show the changes.

• You may need to zoom out to see the
points. This can be avoided by entering
offset values in the DXF screen Option
window. Refer to Option X, Y under
“Setting DXF Import Preferences” on
page 85.

• Click TRANSFORM.

The Program and Table elds appear.

9

10

>

• Click on a point at the far left side of the
points shown in the Secondary View
screen, then click the top SET button
under Program.

• Jog the tip to the same point on the
actual workpiece and then click the top
SET button under Table.

Continued on next page

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EV Series Automated Dispensing Systems

Importing a DXF File (continued)

# Click Step Reference Image

11

• Click on a point at the far right side
of the points shown in the Secondary
View screen, then click the bottom SET
button under Program.

12

13

>

• Jog the tip to the same point on the
actual workpiece and then click the
bottom SET button under Table.

• Click CHANGE.

The system updates all XY locations in
the program so they align with same XY
locations on the actual workpiece.

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Appendix C, QR Code Scanning Setup

Programs can be executed using a QR code scan. For the system to execute a program using a QR code, the
following must occur:

• A QR code for the workpiece must be present on the robot xture plate surface (for example, on the workpiece
itself or on the workpiece xture).

• QR code scanning must be enabled and each QR code must be associated with a program. Refer to the
procedure below.

NOTE: Bar codes are not supported.

To Enable QR Code Scanning

# Click Step Reference Image

1

>

• Click the SYSTEM SETUP tab, then click
OPEN.

2

3

>

4

>

• Check 2D CODE to enable QR code
scanning.

• Click the CAMERA tab and then click SETUP
at the top of the Camera screen.

The camera setup elds appear.

• Click the 2D CODE tab to open the code
setup elds, then check ENABLE THE
FUNCTION.

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Appendix C, QR Code Scanning Setup (continued)

To Associate a QR Code with a Program

# Click Step Reference Image

1

• Jog the camera until it is centered over
the QR code you want to associate with a
program.

2

• Click SET to record the location.

The QR code location coordinates appear in
the BarCode Position elds.

3

• With the QR code in view and in focus, click
TEST to scan the QR code.

If the system cannot identify the QR code,
the Nan pop-up window appears.

4

• Adjust the THRESHOLD and EDGE
SMOOTH values:

- THRESHOLD: Range = 0–255

- EDGE SMOOTH: Range = 0–5

5

• Click TEST again.

When the system properly identies the QR
code, a window like the one at right appears.

• Repeat steps 4 and 5 until the system
recognizes the QR code. After the QR code
is recognized, continue with the next steps
to associate it with a program.

6

• Click ADD TO LIST.

The Open le window appears.

7

• Select the dispense program to associate
with the QR code, the click OPEN.

>

The dispense program is now associated
with the QR code.

Continued on next page.

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Appendix C, QR Code Scanning Setup (continued)

To Associate a QR Code with a Program (continued)

# Click Step Reference Image

8

• Continue to add additional QR codes as
needed.

• To remove a QR code, right-click on the QR
code and then click DELETE.

9

>

1. Clicking PROGRAM and then RUN to test the program. 2. The system moves to the QR code and scans it.

• Return to PROGRAM screen and then click
RUN to test the program.

The system nds the QR code, scans
it, opens the associated program, and
executes the program.

The system is now set up for QR code
scanning. Refer to “Running a Program by
Scanning a QR Code” on page 60 for an
operating procedure.

Refer to the screen captures

The system opens the program and executes it.

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Appendix D, Multi-Needle Setup and Use

A multi-dispenser bracket can be installed on the Zaxis to accommodate up to ve
dispensers. When more than one dispenser is installed, the camera-to-tip offset must be
set for each dispenser. After the system is set up for multi-needle operation, you can insert
the Multi Needle dispense command to specify which dispenser executes the commands
that follow the Multi-Needle command.

NOTE: For contact dispensing applications with multiple dispensers, an additional toggle
assembly is required for the multi-dispenser bracket.

PREREQUISITES

 The required additional dispensers are installed on the robot. Refer to the instructions

provided with the multi-dispenser bracket.

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 A test workpiece is positioned on the xture plate or work surface.

To Enable Multi-Needles Dispensing

# Click Step Reference Image

1

>

2

• Click the SYSTEM SETUP tab, then click
OPEN.

• Check MULTI NEEDLES.

To Set the Camera-to-Tip Offsets for Multiple Dispensers

NOTE: This procedure explains the setup process for two dispensers. Repeat steps as needed to set up the system

for additional dispensers (up to ve dispensers can be installed).

# Click Step Reference Image

1

2

> >

• Click the CAMERA tab, click SETUP at the
top of the Camera screen, and then click the
MULTI-NEEDLE tab.

The Multi Needle elds appear.

• If your system does not include the tip
detector, create a crosshair target point close
to the workpiece.

Continued on next page

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EV Series Automated Dispensing Systems

Appendix D, Multi-Needle Setup and Use (continued)

To Set the Camera-to-Tip Offsets for Multiple Dispensers (continued)

# Click Step Reference Image

3

4

• Click inside the NEEDLE NUMBER eld and
enter the dispenser number (in this example,
Needle Number 1 for Dispenser 1).

• Click inside the OUTPUT PIN eld and
enter the I/O Port pin that the dispenser
is connected to (in this example, 1 for
Dispenser1).

5

• Use the jog keys to position the tip over the
crosshair target (on either the tip detector or
the one you created).

• Jog the tip down until it as close to the
crosshair target as possible without touching
the target.

6

• Click SET next to Needle Move.

This sets the XYZ coordinates for the
dispense calibration point. The system enters
the dispensing tip coordinates in the elds
under Needle Move and Set.

7

• Jog the camera until the camera crosshairs
are centered over the crosshair target,

then

jog the Zaxis until the image of the crosshair
target is clear.

8

• Click SET next to Camera Move.

This sets the camera position. The system
enters the camera coordinates in the elds
under Camera Move and Set.

9

• Click SAVE DATA.

The system populates the Needle 1 data
elds.

Continued on next page

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EV Series Automated Dispensing Systems

Appendix D, Multi-Needle Setup and Use (continued)

To Set the Camera-to-Tip Offsets for Multiple Dispensers (continued)

# Click Step Reference Image

10

11

12

• Click inside the NEEDLE NUMBER eld and
enter the number for the second dispenser
(in this example, Needle Number 2 for
Dispenser2).

• Click inside the OUTPUT PIN eld and enter
the I/O Port pin that the second dispenser
is connected to (in this example, 2 for
Dispenser2).

• Use the jog keys to position the second tip
over the crosshair target (on either the tip
detector or the one you created).

• Jog the tip down until it as close to the
crosshair target as possible without touching
the target.

13

14

15

16

• Click SET next to Needle Move.

This sets the XYZ coordinates for the
dispense calibration point. The system enters
the dispensing tip coordinates in the elds
under Needle Move and Set.

• Jog the camera until the camera crosshairs
are centered over the crosshair target

and then

jog the Zaxis until the image of the crosshair
target is clear.

• Click SET next to Camera Move.

This sets the camera position. The system
enters the camera coordinates in the elds
under Camera Move and Set.

• Click SAVE DATA.

The system populates the Needle 2 data
elds.

The system is now set up for multiple dispenser
operation. Continue to the next procedure in
this section to use this capability.

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EV Series Automated Dispensing Systems

Appendix D, Multi-Needle Setup and Use (continued)

To Use the Multi Needle Command in a Program

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 The additional dispensers are installed and set up and the Multi Needle capability is enabled. Refer to “To Enable

Multi-Needles Dispensing” on page 92 and to “To Set the Camera-to-Tip Offsets for Multiple Dispensers” on
page 92.

 A test workpiece is positioned on the xture plate or work surface.

NOTE: This procedure explains the programming process for two dispensers. Repeat steps as needed to add
commands for additional dispensers (up to ve dispensers can be installed).

# Click Step Reference Image

1

> MULTI NEEDLE

• Click the PROGRAM tab

• Double-click the address row where you
want to insert a Multi Needle command and
select MULTI NEEDLE.

2

1 >

3

4

>

5

• Enter the number of the dispenser to
dispense from at this point in the program (in
this example, Dispenser 1).

• Click OK to save.

• In the Secondary View screen, right click and
check the NEEDLE 1 checkbox.

• Click the FOCUS icon to focus the camera.

• Jog the camera until the camera crosshairs
are centered over the desired target on the
workpiece.

• Enter the required commands for
Dispenser1 (for example, create dispense
dots or lines).

6

MULTI NEEDLE • Double-click the address row where you

want to insert the second Multi Needle
command and select MULTI NEEDLE.

Continued on next page

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EV Series Automated Dispensing Systems

Appendix D, Multi-Needle Setup and Use (continued)

To Use the Multi Needle Command in a Program (continued)

# Click Step Reference Image

7

2 >

• Enter the number of the dispenser to
dispense from at this point in the program (in
this example, Dispenser 2).

• Click OK to save.

8

9

10

11

>

• In the Secondary View screen, right click and
check the NEEDLE 2 checkbox.

• Click the FOCUS icon to focus the camera.

• Jog the camera until the camera crosshairs
are centered over the desired target on the
workpiece.

• Enter the required commands for
Dispenser2 (for example, create arc or lls).

• Click END PROGRAM to end the program.

The system will dispense from Dispenser 1
or Dispenser 2 as programmed.

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EV Series Automated Dispensing Systems

Appendix E, Height Sensor Setup and Use

The optional height sensor can detect any variation from the original Z height program values from workpiece to
workpiece. If the Z height changes, the system detects the new Z height value and adjusts the program accordingly.

PREREQUISITES

 The height sensor is installed and the cable is connected to the I/O port. Refer to the instructions provided with

the height sensor.

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 A test workpiece is positioned on the xture plate or work surface.

To Enable the Height Sensor

# Click Step Reference Image

1

>

2

• Click the SYSTEM SETUP tab, then click
OPEN.

• Check HEIGHT SENSOR.

When the height sensor is enabled, the
Toggle Probe button appears in the tab bar.

To Set Up the Height Sensor

# Click Step Reference Image

1

2

> >

>

• Click the CAMERA tab, click SETUP at the
top of the Camera screen, and then click the
HEIGHT SENSOR tab.

The Height Sensor elds appear.

• In the elds located at the top right corner of
the Height Sensor area, enter the following
values:

- Probe Output: As connected on your
system (default = 8)

- Sensor Input: As connected on your
system (default = 8)

- Detect Speed (mm/s): 5 (range = 1–20)

- Travel Limit (mm): 20 (range = 1–100)

NOTES:

• Detect Speed is how fast the Zaxis lowers
towards the workpiece after the height
sensor probe extends.

• Travel Limit is the range within which the
Zaxis moves to detect the Z-height value.

Continued on next page

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EV Series Automated Dispensing Systems

Appendix E, Height Sensor Setup and Use (continued)

To Set Up the Height Sensor (continued)

# Click Step Reference Image

3

• Click TOGGLE PROBE.

The probe extends from the height sensor.

4

5

6

7

• Jog the tip to a suitable location on the
workpiece (an area that is open and will be
safe for the tip to touch) to test the height
sensor.

• Click SET next to Sensor Move.

• Use a 1.5 mm hex wrench to loosen the set
screw located inside the sensor block.

• Carefully grasp the probe with your ngers
and pull it down until the bottom of the
probe is about 10 mm above the workpiece.

8

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98

• Tighten the set screw inside the sensor
block.

Continued on next page

EV Series Automated Dispensing Systems

Appendix E, Height Sensor Setup and Use (continued)

To Set Up the Height Sensor (continued)

# Click Step Reference Image

9

• Click TOGGLE PROBE to retract the probe.

10

11

>

• Click INITIAL HEIGHT DETECT, then click
YES to capture the Z height.

The height sensor probe touches the
workpiece surface and then shows the value
in the Current Z Height eld.

The system is now ready for height sensor
detection. Do one of the following:

- Continue to the next step to update the
Z height values in the currently open
program.

- Continue to the next procedure in this
section to use this feature in a program.

• (Optional) To update the Z height values in
the currently open program, click OFFSET
PROGRAM.

The system checks the current Z height
by lowering and raising the probe. If the
detected Z height value is different from the
Z height values in the program, the system
prompts for conrmation to update the Z
height values. Click YES to accept the offset
value. The system automatically updates all
the Z height values in the program.

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EV Series Automated Dispensing Systems

Appendix E, Height Sensor Setup and Use (continued)

To Use the Height Sensor Capability

PREREQUISITES

 The system is properly set up. Refer to “Setting Up and Calibrating the System (Required)” on page 37.

 The height sensor is installed, enabled, and set up. Refer to “To Enable the Height Sensor” on page 97 and to

“To Set Up the Height Sensor” on page 97.

 The program you want to edit using the height sensor capability is open.

# Click Step Reference Image

1

• Click TOGGLE PROBE.

The probe extends from the height
sensor.

2

3

4

HEIGHT SENSOR >

• Jog to the location where the system
should check the height for each
workpiece.

• Use the Z jog keys to lower the
probe to approximately 10 mm (0.4")
above the target location on the
workpiece.

• Double-click the address row where
you want to insert a Height Sensor
command and then select HEIGHT
SENSOR from the drop-down menu.

• Click OK to accept the XYZ values.

• Click TOGGLE PROBE to retract the
probe.

The system will now check the
workpiece height each time the
programs runs.

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