Nordson EFD E2, E, E5, E6, E3 Operating Manual

E Series Automated Dispensing Systems

Operating Manual

™

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

E Series Automated Dispensing System

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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E Series Automated Dispensing System

Contents

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

Introduction .....................................................................................................................................................................6

Nordson EFD Product Safety Statement ........................................................................................................................7

Halogenated Hydrocarbon Solvent Hazards ...............................................................................................................8

High Pressure Fluids ....................................................................................................................................................8

Qualied Personnel ......................................................................................................................................................8

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

Regulations and Approvals ..........................................................................................................................................9

Personal Safety ............................................................................................................................................................9

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

Preventive Maintenance ............................................................................................................................................10

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

Component Identication ..........................................................................................................................................13

Front Panel .................................................................................................................................................................13

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

Installation .....................................................................................................................................................................14

Unpack the System Components ..............................................................................................................................14

Position the Robot and Install and Connect Components ........................................................................................15

Prepare the Work Surface or Fixture Plate ................................................................................................................16

Connect Inputs / Outputs (Optional) ..........................................................................................................................16

Connect a Barcode Scanner (Optional) .....................................................................................................................16

Power On the System ................................................................................................................................................17

Concepts .......................................................................................................................................................................18

About Programs and Commands ..............................................................................................................................18

About Tip Height ........................................................................................................................................................19

About Mark Points .....................................................................................................................................................19

Overview of the Teach Pendant.....................................................................................................................................20

Run Mode vs. Teach Mode ........................................................................................................................................21

Executing Functions and Entering Numeric Data ......................................................................................................21

Navigating the Menus ................................................................................................................................................22

Jogging the Dispensing Tip .......................................................................................................................................22

Teach Pendant Key Descriptions ...............................................................................................................................23

Teach Pendant Menu Structure .................................................................................................................................24

Teach Pendant Menu Item Descriptions ....................................................................................................................25

Program Menu .......................................................................................................................................................25

Menu 1 ...................................................................................................................................................................26

Utility Menu ............................................................................................................................................................27

Diagnostic Menu ....................................................................................................................................................28

Menu 2 ...................................................................................................................................................................28

Setup Menu ............................................................................................................................................................29

Type Menu ..............................................................................................................................................................31

USB Menu ..............................................................................................................................................................31

Continued on next page

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E Series Automated Dispensing System

Contents (continued)

Setup .............................................................................................................................................................................32

Switching from Run Mode to Teach Mode ................................................................................................................32

Setting System Parameters .......................................................................................................................................32

XY Move Speed or Z Move Speed .........................................................................................................................33

Axis Limit ................................................................................................................................................................33

Jog Acceleration ....................................................................................................................................................34

Teach Move ZClearance (How High the Tip Lifts in the Teach Mode) ..................................................................34

Point to Point Arc Jump .........................................................................................................................................35

Park Position ..........................................................................................................................................................35

Pause Status (Tip Pause Location) ........................................................................................................................36

Pre-Cycle Initialize (Auto-Initialize) .........................................................................................................................36

Pre-Dispense Wait Time .........................................................................................................................................37

Default Dispense Port (Dispense Port Output) .......................................................................................................37

Measurement Unit ..................................................................................................................................................38

Password Setup .....................................................................................................................................................38

Auto Purge .............................................................................................................................................................39

Language ...............................................................................................................................................................40

Key Beep ................................................................................................................................................................40

Setting the Tool Offset ...............................................................................................................................................41

Setting Up Barcode Scanning ...................................................................................................................................42

Setting the Dispenser Ports .......................................................................................................................................43

Programming .................................................................................................................................................................44

Working with Programs and Commands ...................................................................................................................44

How to Switch from Run Mode to Teach Mode .....................................................................................................44

How to Open and Edit a Program ..........................................................................................................................45

How to Name a Program........................................................................................................................................46

How to Clear or Copy a Program ...........................................................................................................................47

How to Jump to a Specic Address or Label ........................................................................................................48

How to Insert or Delete a Command .....................................................................................................................48

How to Change a Group of Addresses (Group Edit) ..............................................................................................49

How to Set Mark Points .........................................................................................................................................52

How to Adjust All Points in a Program (Program Offset) ........................................................................................53

How to Expand a Step & Repeat Command .........................................................................................................54

How to Lock or Unlock the System .......................................................................................................................55

How to Upload / Download Programs Using the SVC USB Port ..........................................................................57

How to Create and Run a Program ........................................................................................................................58

Creating Patterns .......................................................................................................................................................60

How to Make a Dot ................................................................................................................................................60

How to Make a Line ...............................................................................................................................................61

How to Make an Arc ...............................................................................................................................................63

How to Make a Circle .............................................................................................................................................65

How to Fill an Area .................................................................................................................................................66

How to Make an Array of Dots (Step & Repeat) .....................................................................................................68

Calibrating the Tip Height ..........................................................................................................................................70

Systems without a Tip Detector .............................................................................................................................70

Systems with a Tip Detector ..................................................................................................................................72

Working with Inputs / Outputs ...................................................................................................................................74

Enable or Disable an Input / Output .......................................................................................................................74

Automatically Switch Outputs ON .........................................................................................................................75

Set How Outputs Behave at the End of a Program ...............................................................................................75

Continued on next page

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E Series Automated Dispensing System

Contents (continued)

Operation .......................................................................................................................................................................76

Starting the System for Routine Operation ................................................................................................................76

Running a Program by Scanning a Barcode .............................................................................................................76

Pausing During a Dispense Cycle..............................................................................................................................77

Purging the System ...................................................................................................................................................77

Shutting Down the System ........................................................................................................................................77

Part Numbers ................................................................................................................................................................77

Accessories ...................................................................................................................................................................78

Safety Enclosures ......................................................................................................................................................78

Pre-Congured Output Cables ..................................................................................................................................78

Fixture Plates .............................................................................................................................................................79

Start / Stop Box .........................................................................................................................................................79

Tip Alignment Kit .......................................................................................................................................................79

Height Sensor ............................................................................................................................................................79

Mounting Brackets ....................................................................................................................................................80

Troubleshooting .............................................................................................................................................................81

Teach Pendant Error Messages .................................................................................................................................81

Diagnostic Checks (Diagnostic Menu) .......................................................................................................................82

Restoring the System to the Factory Default Settings (Clear Memory) .....................................................................84

Technical Data ...............................................................................................................................................................85

Dimensions ................................................................................................................................................................85

Mounting Hole Template ............................................................................................................................................85

Wiring Diagrams ........................................................................................................................................................86

Dispenser Port .......................................................................................................................................................86

Ext. Control Port .....................................................................................................................................................86

I/O Port ...................................................................................................................................................................87

RS232 Port (for Remote Communication) ..............................................................................................................87

Example Input / Output Connections .....................................................................................................................88

Appendix A, Type Menu Reference ...............................................................................................................................89

Appendix B, RS-232 Communication Protocol ...........................................................................................................113

Appendix C, DXF File Import Using TeachMotion DXF ...............................................................................................115

Installing TeachMotion DXF and Connecting to the Robot......................................................................................115

Overview of the TeachMotion DXF Software ...........................................................................................................116

Program Screen and Icons...................................................................................................................................117

Option Screen ......................................................................................................................................................120

DXF Screen and Icons..........................................................................................................................................121

Modifying the DXF Import Options ..........................................................................................................................123

Importing a DXF File ................................................................................................................................................124

Appendix D, Height Sensor Setup and Use ................................................................................................................128

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E Series Automated Dispensing System

Introduction

This manual provides installation, setup, programming, operation, and service information for all components of a
Nordson EFD E 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 in-line transfer
systems, rotary tables, and pallet assembly lines.

The primary components of an automated dispensing system are the Teach Pendant (TP), the robot, and the
dispensing valve components. The robot executes a program to dispense uid from the valve in a specic pattern
onto a workpiece. Programs are created and executed using the Teach Pendant. Material is dispensed through a
Nordson EFD syringe barrel or valve system. A valve system may be contact or non-contact. Contact systems may
dispense uid through a needle or a dispensing tip. For the purposes of this manual, “dispensing tip” refers to either
a needle or a tip.

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E Series Automated Dispensing System

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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E Series Automated Dispensing System

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.

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.

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E Series Automated Dispensing System

Nordson EFD Product Safety Statement (continued)

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.

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.

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E Series Automated Dispensing System

Nordson EFD Product Safety Statement (continued)

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.

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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E Series Automated Dispensing System

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.

• Ensure that 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.

• Refer to the maintenance instructions for a recommended maintenance schedule, detailed cleaning instructions,
and available tools and supplies for servicing the robot.

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E Series Automated Dispensing System

Specifications

Item/Model E2 E3 E4 E5 E6

Number of axes 3 3 3 3 3

Maximum working
area (X / Y / Z )

Workpiece
payload

Tool payload 3 kg (6.6 lb) 5 kg (11.0 lb) 5 kg (11.0 lb) 5.5 kg (7.7 lb) 5 kg (11.0 lb)

Unit weight 21 kg (46 lb) 39.5 kg (87 lb) 44.5 kg (98 lb) 47 kg (107 lb) 50 kg (110 lb)

Dimensions

Maximum speed
(XY / Z)

Drive system

Memory capacity

Data storage USB USB USB USB USB

General purpose
I/O

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

Dispensing
controller

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

Teach Pendant Included Included Included Included Included

Tip alignment kit Optional Optional Optional Optional Optional

Approvals CE, RoHS, WEEE, China RoHS

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

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

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)

Wx510Hx414D mm

370
(15

W x 20H x 16"D)

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

3-phase micro­stepping motor

1-99 programs
1-9,999 points per
program

8 inputs / 8 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs

External External External External External

Auto-switching,
AC100–240V, 200 W

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)

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

Wx644Hx519D mm

490
(19

W x 25H x 20"D)

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

3-phase micro­stepping motor

1-99 programs
1-9,999 points per
program

Auto-switching,
AC100–240V, 320 W

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

Wx644Hx617D mm

590
(23

W x 25H x 24"D)

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

3-phase micro­stepping motor

1-99 programs
1-9,999 points per
program

Auto-switching,
AC100–240V, 320 W

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

Wx814Hx718D mm

690
(27

W x 32H x 28"D)

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

3-phase micro­stepping motor

1-99 programs
1-9,999 points per
program

Auto-switching,
AC100–240V, 320 W

620 / 500 / 150 mm
(24 / 20 / 6")

Wx812Hx718D mm

808
(32

W x 32H x 28"D)

800 / 320 mm/s
(31 / 13”/s)

3-phase micro­stepping motor

1-99 programs
1-9,999 points per
program

Auto-switching,
AC100–240V, 320 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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Operating Features

Component Identification

E Series robot

Teach Pendant (TP)

Syringe barrel for
uid dispensing

Tip alignment kit

(optional)

E Series Automated Dispensing System

Front Panel

Teach Pendant

connection

DISPENSER
PURGE button

SVC USB port (for
transferring programs or
connecting a barcode
scanner)

Fixture plate
(optional)

START button

EMERGENCY
STOP button

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E Series Automated Dispensing System

Back Panel

I/O Port (for
input / output
connections)

Tactile port (for the tip

detector, if present)

RS232 port

Dispenser port (for dispenser /
controller initiation)

Ext. Control port

(for the I/O safety plug)

Power
Switch

Power Inlet

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.

Foam

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-head 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.

protector

Cross
member (do
not use to
lift the robot)

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

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E Series Automated Dispensing System

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 Teach Pendant

If present Tip alignment

kit (optional)
(7360892)

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 installer assumes all safety liability.

 Connect the Teach Pendant cable to the

Teach Pendant port on the front of the
robot.

 Install the tip alignment kit.

 Connect the cable to the Tactile port on

the back of the robot.

All models Dispensing valve

components

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.

 Refer to the dispensing equipment

manuals for all other dispensing system
installation steps.

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E Series Automated Dispensing System

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78.

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87. There
are several ways to use the system inputs / outputs. Refer to “Working with Inputs / Outputs” on page74 for
additional information on inputs / outputs.

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To use a barcode scanner to run programs by scanning a barcode, connect a barcode scanner to the SVC USB port
on the front of the robot. Additional information on barcode scanning is located later in this manual, under “Setting
Up Barcode Scanning” on page42.

Connect a Barcode Scanner (Optional)

E Series Automated Dispensing System

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14).

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

• The Teach Pendant cable is connected to the Teach Pendant port on the front of the robot.

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

2. Switch on the robot.

The robot moves to the factory-set home position and the system is
ready.

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

4. Press F1 > TEACH/RUN to enter the Teach Mode.

NOTE: The Teach Pendant cable should already be connected to the
Teach Pendant port on the front of the robot.

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

• “Concepts” on page18

• “Overview of the Teach Pendant” on page20

• “Setup” on page32

• “Programming” on page44

Teach Pendant port

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E Series Automated Dispensing System

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 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.

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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Line Passing

E Series Automated Dispensing System

About Programs and Commands (continued)

Best Practices for Programming

• Insert setup commands (including Acceleration, Dispense Port, and ZClearance) at the beginning of the
program.

• Insert dispense commands after setup commands.

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

• Name your programs (refer to “How to Name a Program” on page46).

About Tip Height

Tip height is (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. The tip height is also
known as the Zclearance.

The tip height must be calibrated and then recalibrated as needed to compensate for slight variations in height that
occur when changes are made to the system, primarily nozzle or tip change-out. If your system includes the optional
tip alignment kit, you can automatically update the tip height at any time using the Auto Needle Adjust feature.

The tip height should be recalibrated as follows:

• At initial startup.

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

• Any time a dispensing tip or nozzle is changed.

• Any time the payload or workpiece changes.

Tip height
(ZClearance)

Workpiece / substrate

About Mark Points

Mark Points are specic points on a workpiece that are set using the Mark Point command. The system uses Mark
Points to adjust all the XY values in a program based on any changes made to the position or orientation of a
workpiece. This adjustment is accomplished through the Program Offset function.

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E Series Automated Dispensing System

Overview of the Teach Pendant

This section explains how to use the Teach Pendant and provides an overview of all the Teach Pendant keys and
menus. This information is provided for your reference as needed. To set up the system and create dispensing
programs, refer to “Setup” on page32 and to “Programming” on page44.

Display: All menus

appear in the display.

Edit key: Use to edit multiple
steps in a program. Refer to
“How to Change a Group of
Addresses (Group Edit)” on
page49.

F1, F2, and F3 function

keys: Use to open the

Program Menu and save

data entries. Refer to

“Executing Functions

and Entering Numeric

Data” on page21.

Programming keys: Use

to create programs.

Refer to “Teach Pendant

Key Descriptions” on

page23.

Start key: Use to run

programs.

USB key: Use to upload or
download programs. Refer to
“How to Upload / Download
Programs Using the SVC USB
Port” on page57.

Jog keys: Use these keys to
move the dispensing tip. Refer
to “Jogging the Dispensing
Tip” on page22.

Move up / down keys: Use to
move the cursor.

Enter key: Selects the current
item.

Home key: Moves the
dispensing tip to the Home
Position.

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E Series Automated Dispensing System

Run Mode vs. Teach Mode

The system has two modes of operation: Run and Teach.

In the Run Mode, you can:

• View a list of programs and select a program.

• Run a program.

• Reset the counter (this function is password-protected).

• Update all the XYZ values in a program if the location and / or orientation of a workpiece changes.

• Perform a manual or automatic tip height calibration (required after a tip or needle change).

In the Teach Mode, you can:

• View or change system settings.

• Calibrate the tip height.

• Set up inputs/outputs.

• Create, edit, copy, move, and name programs.

• Test-run programs.

• Upload and download programs using the SVC USB port.

• Perform hardware and software diagnostic testing.

When you switch on the robot, the system is in the Run Mode. To switch to the Teach Mode, refer to “How to Switch
from Run Mode to Teach Mode” on page44.

Executing Functions and Entering Numeric Data

Execute functions by pressing keys either individually or consecutively:

• When you press a single key, the Teach Pendant executes the function shown in white. For example, when you
press the Type key, the Type menu opens.

EXAMPLE: Press

• To execute the function shown in yellow at the top of a key, press and release the Shift key, then press the
desired key. For example, to select the Dispense Dot command, press the Shift key, then press the Type key.

EXAMPLE: Press

When a number is required, the Teach Pendant automatically switches to numeric entry mode. The number keys
have a white number on the bottom of the key.

EXAMPLE: Press

EXAMPLE: Press > > to enter the number 1.5.

to open the Type menu.

> to insert a Dispense Dot command.

to enter the number 1.

Execute the function shown in
YELLOW by rst pressing and

+

releasing the SHIFT key, then
pressing this key

Execute the function
shown in WHITE by
pressing this key once

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E Series Automated Dispensing System

Navigating the Menus

TP Key Function

Press F1 to open the Program Menu.

In the Teach Mode, press the USB, TYPE, MENU1, MENU2, or SETUP key to open the
corresponding menu. The ENTER key opens the Type menu.

Press ESC to exit out of any menu.

Within a menu, use the MOVE UP and MOVE DOWN arrow keys to move either vertically
or horizontally through menu items.

Use the left and right X jog keys to go to the next page or to the previous page of a menu.

Press ENTER to select the current item.

Jogging the Dispensing Tip

TP Key Function

Jog (move) the dispensing tip by pressing the X, Y, or Z ARROW keys. A single
press steps the tip in the direction indicated on the key. Pressing and holding jogs
the tip at slow speed.

Press and hold the FAST key while simultaneously pressing any X, Y, or Z jog key to
move the robot at full speed.

To accelerate the jog speed of the robot, press and hold any X, Y, or Z jog key to
start robot movement. While the robot is moving, press and hold the FAST key to
begin ramping up the speed.

To decelerate the jog speed of the robot, release the FAST key while still pressing
and holding any X, Y, or Z jog key. The robot speed will begin to ramp down.

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E Series Automated Dispensing System

Teach Pendant Key Descriptions

Key
Name

F1

F2

F3

Edit

USB Opens the USB menu

Shift

Ins

Del

Clear

Esc

Type /
Dispense
Dot

1 / Line
Start

2 / Line
Passing

3 / Line
End

Move Up
/ Move
Left

Menu1 /
Arc Point

Key Function

Selects the option shown on
the display; use of this key
depends on which menu is
currently displayed

Selects the option shown on
the display; use of this key
depends on which menu is
currently displayed

Selects the option shown on
the display; use of this key
depends on which menu is
currently displayed

Opens the Group Edit menu

If pressed and released before
pressing another key, enables
the secondary function of the
second key (shown in yellow)

Inserts an address before the
current address in a program

Deletes the current address in
a program

One press clears a single
character; press and hold
clears the eld

Exits the current operation

Opens the Type menu
SHIFT > TYPE inserts a
Dispense Dot command

Enters a 1

SHIFT > 1 inserts a Line Start
command

Enters a 2

SHIFT > 2 inserts a Line
Passing command

Enters a 3

SHIFT > 3 inserts a Line End
command

Scrolls up or left through
selections or addresses

SHIFT > ARROW UP pages up
through addresses

Opens Menu1

SHIFT > MENU1 inserts an Arc
Point command

White Teach or Run Mode

Dark Gray Teach Mode only

Key
Name

4 / Circle

5 / Step &
Repeat

6 / Z
Clearance

Move
Down
/ Move
Right

Menu2 /
Undo

7 / Redo

8 / Label

9 / Fill
Area

Setup

Decimal
Point /
Move

0

Minus
/ End
Program

Enter

Start

Home

Key Function

Enters a 4

SHIFT > 4 inserts a Circle
command

Enters a 5

SHIFT > 5 inserts a Step &
Repeat command

Enters a 6

SHIFT > 6 inserts a ZClearance
command

Scrolls down or right through
selections or addresses

SHIFT > ARROW DOWN pages
down through addresses

Opens Menu2

SHIFT > MENU2 undoes the
last change to a program

Enters a 7

SHIFT > 7 redoes the last
change to a program

Enters an 8

SHIFT > 8 inserts a Label
command

Enters a 9

SHIFT > 9 inserts a Fill Area
command

Opens the Setup menu

Enters a decimal point

SHIFT > Decimal Point moves
the tip to a specied address

Enters a 0

Toggles a value from positive
to negative

SHIFT > End inserts an End
Program command

Enters or conrms data entries
or selections
or
Opens the Type menu

Runs the currently open
program

Moves the tip to the Home
Position (0, 0, 0)

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E Series Automated Dispensing System

Teach Pendant Menu Structure

NOTE: These menus are accessible only in the Teach Mode. Refer to “How to Switch from Run
Mode to Teach Mode” on page44.

or

Program

01 Teach/Run

02 Program List

03 Reset Counter

04 Program Offset

05 Needle Adjust

06 Auto Needle Adjust

Type

01 Dispense Dot

02 Line Start

03 Line Passing

04 Arc Point

05 Line End

06 Circle

07 End Program

08 Spline Node

09 Spline Move Speed

10 Label

11 Goto

12 Step & Repeat

13 Z Clearance

14 Loop

15 Dispense Port

16 Call Pattern

17 End Pattern

18 Call Subroutine

19 End Subroutine

20 Call Program

Menu1

01 Group Edit

02 Ex. Step & Repeat

03 Program Name

04 Axis Limit

05 Initialize IO

06 Jog Acceleration

07 Teach Move

ZClearance

08 Utility Menu

09 Diagnostic

Menu2

01 Coordinate

Absolute Move

02 Coordinate Relative

Move

03 Undo Command

04 Redo Command

05 Park Position

06 Jump

Utility Menu

01 Program

02 Memory

03 Key Beep

04 Online Signals

05 Barcode Scanner

06 System Lockout

Diagnostic

01 Home Sensor

02 Front Panel

03 Input/Output

Setup

01 XY Move Speed

02 Z Move Speed

03 Point to Point Arc

Jump

04 Park Position

05 Calibration Point

06 Mark Points

07 Program Output

Status

08 Pause Status

09 Auto Purge

10 Pre-cycle Initialize

11 Pre-dispense Wait

Time

12 Default Dispense

Port

13 Needle Detect

Setup

14 Run Limit

15 Measurement Unit

16 Password Setup

17 Remote Command

18 Height Sensor

19 Language

20 System Information

21 Set I/O

22 Fill Area

23 Acceleration

24 Dummy Point

25 Wait Time

26 Stop Point

27 Park Position

04 Teach Pad

05 RS232

06 Motor

USB

01 Load Program

02 Save Program

03 Load All Programs

04 Save All Programs

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E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions

This section provides a brief description of all the Teach Pendent menu items for quick reference as needed.

Program Menu

[PROGRAM MENU] 1/1
01 Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06 Auto Needle Adjust

Menu Item Description

01 Teach/Run Used to toggle between the Teach Mode and the Run Mode.

NOTE: If a program is locked, the Teach Mode is password-protected.

02 Program List Used to select a program number from 1 to 99.

03 Reset Counter Resets the dispense cycle count.

NOTE: This function is password-protected.

04 Program Offset Adjusts the XY coordinates for all dispense commands in a program when

you enter offset values for each axis. For this function to work properly, the
program must contain two Mark Points. Refer to “How to Set Mark Points” on
page52 and to “How to Adjust All Points in a Program (Program Offset)” on
page53.

05 Needle Adjust Calibrates the tip height after a dispensing tip or syringe barrel change on

systems without the optional tip alignment kit. For this function to work
properly, you must set a Calibration Point. Refer to “Calibrating the Tip Height”
on page70.

06 Auto Needle Adjust Calibrates the tip height after a dispensing tip or syringe barrel change on

systems with the optional tip alignment kit. For this function to work properly,
you must calibrate the tip detector. Refer to “Calibrating the Tip Height” on
page70.

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E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions (continued)

Menu 1

[MENU 1] 1/2
01 Group Edit
02 Ex. Step & Repeat
03 Program Name
04 Axis Limit
05 Initialize Output
06 Jog Acceleration
07 Teach Move Z Clearance

[MENU 1] 2/2
08 Utility Menu
09 Diagnostic

Menu Item Description

01 Group Edit Used to modify a selected group of addresses in a program; available

selections are Copy, Delete, Move, Line Speed, Dispense Time, Z Value, Point
Offset, Offset To, Mirror Points, and Rotate Points.

02 Ex. Step & Repeat Expands all the commands contained in a Step & Repeat command (can only

be undone using the Undo command).

03 Program Name Used to modify the name of the current program.

04 Axis Limit Sets the working area travel limits (X, Y, and Z axes):

• E2 axis limit maximums: 200, 200, 50 mm

• E3 axis limit maximums: 300, 300, 100 mm

• E4 axis limit maximums: 400, 400, 100 mm

• E5 axis limit maximums: 500, 500, 150 mm

• E6 axis limit maximums: 620, 500, 150 mm

05 Initialize Output Used to specify which outputs (1–8) switch ON at the beginning of a program.

06 Jog Acceleration Sets the FAST jog speed; available selections are Low, Medium, or High.

07 Teach Move ZClearance Sets how high the tip lifts as it moves between points in the Teach Mode.

Refer to “Teach Move ZClearance (How High the Tip Lifts in the Teach Mode)”
on page34.

08 Utility Menu Refer to “Utility Menu” on page27.

09 Diagnostic Refer to “Diagnostic Menu” on page28.

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E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions (continued)

Utility Menu

[UTILITY] 1/1
01 Program
02 Memory
03 Key Beep
04 Online Signals
05 Barcode Scanner
06 System Lockout

Menu Item Description

01 Program Used to clear the current program or copy the current program to another

program number.

02 Memory CLEAR MEMORY clears all data from every program on the Teach Pendant.

TOOL OFFSET changes all of a program’s XYZ values by the XYZ values
entered as an offset.

NOTE: This function is password-protected.

03 Key Beep Enables or disables the key press beep.

04 Online Signals Enables or disables whether the system sends status output signals from

outputs 5–8 when the system is operating in the Run Mode. Available status
output signals are as follows:

• Out 5: Emergency

• Out 6: Running

• Out 7: Standby

• Out 8: Need Start Signal
The default setting is OFF (disabled).

05 Barcode Scanner Enables or disables the ability to run programs using a barcode scanner (Run

Mode only).

NOTE: The barcode scanner must be connected to the SVC USB port on the
front of the robot.

06 System Lockout Locks or unlocks the current program. When a program is locked, it cannot be

modied.

NOTE: This function is password-protected.

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E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions (continued)

Diagnostic Menu

[DIAGNOSTIC] 1/1
01 Home Sensor
02 Front Panel
03 Input/Output
04 Teach Pad
05 RS232
06 Motor

Menu Item Description

01 Home Sensor Checks the home sensors for each axis as you manually move the robot Z axis

or xture plate.

02 Front Panel (and tip detector) Checks the status of the robot’s front panel buttons (START, DISPENSER

PURGE, and EMERGENCY STOP); also checks the status of the needle
sensor on the optional tip detector.

03 Input/Output Checks the status of each input and output signal and the dispenser signal.

04 Teach Pad Checks the status of the each of the Teach Pendant keys.

05 RS232 Checks the status of the RS232 port.

06 Motor Checks the motor axis movement; when selected, the motors move back and

forth 10 mm.

Menu 2

[MENU 2] 1/1
01 Coordinate Absolute Move
02 Coordinate Relative Move
03 Undo Command
04 Redo Command
05 Go To Park Position
06 Jump

Menu Item Description

01 Coordinate Absolute Move Used to manually input coordinates to move the tip to a new location relative

to the origin position (0, 0, 0).

02 Coordinate Relative Move Used to manually input coordinates to move the tip to a new location relative

to its current position.

03 Undo Command Undoes the last command; this can also be done by pressing SHIFT > Menu2.

04 Redo Command Redoes the last command; this can also be done by pressing SHIFT > 7.

05 Go To Park Position Moves the tip to the Park Position. Park Position is the same as the Home

Position (0, 0, 0) unless modied (see Park Position under the Setup menu).

06 Jump Jumps to a specied address or label number within the dispense program

(useful for long programs).

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E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions (continued)

Setup Menu

[SETUP] 1/3
01 XY Move Speed
02 Z Move Speed
03 Point to Point Arc Jump
04 Park Position
05 Calibration Point
06 Mark Points
07 Program Output Status

[SETUP] 2/3
08 Pause Status
09 Auto Purge
10 Pre-cycle Initialize
11 Pre-dispense Wait Time
12 Default Dispense Port
13 Needle Detect Setup
14 Run Limit

[SETUP] 3/3
15 Measurement Unit
16 Password Setup
17 Remote Command
18 Height Sensor
19 Language
20 System Information

Menu Item Description

01 XY Move Speed Sets the speed of the of X and Y axis movement:

• Maximum XY speed: 500 (mm/s) (E2); 800 (mm/s) (E3, E4, E5, E6)

• Default: 100 (mm/s)

02 Z Move Speed Sets the speed of the of Z axis movement:

• Maximum Z speed: 250 (mm/s) (E2); 320 (mm/s) (E3, E4, E5, E6)

• Default: 50 (mm/s)

03 Point to Point Arc Jump Enables or disables tip movement in an arc motion between dispense

patterns:

• 1 Enable: The tip moves in an arc motion.

• 2 Disable (default): The tip moves in a square motion.

04 Park Position Sets the Park Position XYZ coordinates. When the Park Position command

is used in a dispense program, the tip moves to the set Park Position. The tip
also moves to the Park Position at the end of a dispense program.

• Default: 0, 0, 0 (mm)

05 Calibration Point Sets a reference point that is used by the system to perform the Needle Adjust

function.

06 Mark Points Sets two reference points that are used by the system to perform the Program

Offset function.

07 Program Output Status Enables or disables how outputs function after a program ends:

• 1 Enable: The system keeps outputs ON after a program ends.

• 2 Disable (default): The system allows outputs to switch OFF after a
program ends.

08 Pause Status Sets the position that the tip moves to when you press the START button to

pause the current dispense cycle:

• 1 Park Position (default): The tip moves to the user-specied Park Position.

• 2 Stand: The tip stays at the current position.

09 Auto Purge Used to set up parameters for purging. Refer to “Auto Purge” on page39.

• Purge time: 100.0 (s) maximum

• Wait time: 999 (s) maximum

Continued on next page

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E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions (continued)

Menu Item Description

10 Pre-cycle Initialize Enables or disables a pre-cycle initialization before every dispense cycle:

• 1 Enable (default): The tip always returns to the Home Position before
beginning a dispense cycle (also know as auto-initialize).

• 2 Disable: The next dispense cycle begins at the rst point in the dispense
program without returning to the Home Position to initialize.

11 Pre-dispense Wait Time Sets a wait time that occurs prior to the start of each dispense command

within a program (both dot and line dispensing).

• Default: 0 (s)

• Range: 0.0–9999.9 (s)

12 Default Dispense Port Sets the output port for the dispensing valve. Refer to “Setting the Dispenser

Ports” on page43.

• Default: 0

13 Needle Detect Setup (only

systems with the optional tip
alignment kit)

14 Run Limit Sets a limit for how many dispense cycles the system can complete in the Run

15 Measurement Unit Used to specify how units of measure are displayed.

16 Password Setup Used to change the system password. Refer to “Password Setup” on

17 Remote Command Enables or disables the ability of the system to accept commands through the

Sets the tip coordinates for the optional tip detector. Refer to “Set a
Calibration Point (Initial Setup for Auto Needle Adjust)” on page72.

Mode. When the system reaches the Run Limit, you must reset the counter
(Reset Counter under the Program menu) to run additional dispense cycles.

• Default: 0

• Maximum: 99,999

• 1 mm (default)

• 2 inch

page38.

• Default: blank (no password protection)

NOTE: This function is password-protected.

RS232 serial communication port on the back of the robot when the system is
connected to an external PC/PLC.

• 1 Enable: The system accepts command through the RS232 port.

• 2 Disable (default): The system cannot accept command through the RS232
port.

NOTE: Refer to “Appendix B, RS-232 Communication Protocol” on page113
for information on using RS-232 communication.

18 Height Sensor Used only when the optional height sensor is installed. Refer to “Appendix D,

Height Sensor Setup and Use” on page128 for all information related to the
height sensor.

19 Language Used to set the language. Refer to “Language” on page40.

20 System Information Displays the system information, including the robot model and the Teach

Pendant software version.

30 www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Teach Pendant Menu Item Descriptions (continued)

Type Menu

[TYPE] 1/4
01 Dispense Dot
02 Line Start
03 Line Passing
04 Arc Point
05 Line End
06 Circle
07 End Program

[TYPE] 3/4
15 Dispense Port
16 Call Pattern
17 End Pattern
18 Call Subroutine
19 End Subroutine
20 Call Program
21 Set I/O

[TYPE] 2/4
08 Spline Node
09 Spline Move Speed
10 Label
11 Goto
12 Step & Repeat
13 Z Clearance
14 Loop

[TYPE] 4/4
22 Fill Area
23 Acceleration
24 Dummy Point
25 Wait Time
26 Stop Point
27 Park Position
28 Height Sensor

Refer to “Appendix A, Type Menu Reference” on page89 for a detailed explanation of the Type menu items.

USB Menu

[USB] 1/1
01 Load Program
02 Save Program
03 Load All Programs
04 Save All Programs

You can connect a USB drive to the SVC USB port on the front of the robot to upload or download programs to or
from the robot. Refer to “How to Upload / Download Programs Using the SVC USB Port” on page57.

Menu Item Description

01 Load Program Uploads a *.NDN le selected from the USB drive to the current program or a

destination program number.

02 Save Program Saves the current program to the USB drive as a *.NDN le.

03 Load All Programs Uploads a *.PKG le from the USB drive to load all the dispense programs on

the drive. Existing dispense programs are overwritten.

04 Save All Programs Saves all the dispense programs on the robot to the USB drive as a *.PKG le.

31www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Setup

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

Switching from Run Mode to Teach Mode

When the system is switched on, the default mode of operation is the Run Mode. To modify system settings, the
system must be in the Teach Mode. Refer to “Run Mode vs. Teach Mode” on page21 for more information on the
modes of operation.

# Key Press Step Teach Pendant Display

1

> >

• Press F1.

• MOVE UP / DOWN to TEACH/RUN.

• Press ENTER.

[PROGRAM MENU] 1/1
01*Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06 Auto Needle Adjust

2

• Press HOME. If prompted, enter a

password.

[ TEACH MODE ]

PRESS [HOME]

TO INITIALIZE SYSTEM

Setting System Parameters

The factory system settings are appropriate for most applications. Use these procedures as needed to view or
change system settings. Important system settings include:

• XY or Z Move Speed: The speed at which the dispensing tip moves along the X, Y, or Z axes.

• Jog Acceleration: How the robot accelerates when the FAST button is pressed (applies to program creation in
the Teach Mode).

Refer to “Setup Menu” on page29 for default and maximum / minimum settings.

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E Series Automated Dispensing System

Setting System Parameters (continued)

XY Move Speed or Z Move Speed

XY Move Speed is how fast the tip travels along the XY axis. Z Move Speed is how fast the tip moves up or down
the Z axis.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to
XY MOVE SPEED
or
Z MOVE SPEED.

• Press ENTER.

[SETUP] 1/3
01*XY Move Speed
02 Z Move Speed
03 Point to Point Arc Jump
04 Park Position
05 Calibration Point
06 Mark Points
07 Program Output Status

2

• Enter the desired value.

- XY Move Speed range: 0–800 mm/s

- Z Move Speed range: 0–320 mm/s

XY Move Speed

-----------------------------­Current: 100.0 mm/s
New: _

• Press F1 to save or exit.

[F1] OK

Axis Limit

Axis Limit sets how far the dispensing tip is allowed to move within the XYZ working area. If a command includes a
point that is outside the specied axis limits, an error occurs.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to AXIS LIMIT.

• Press ENTER.

[MENU 1] 1/2
01 Group Edit
02 Ex. Step & Repeat
03 Program Name
04*Axis Limit
05 Initialize Output
06 Jog Acceleration
07 Teach Move Z Clearance

2

x >

• Enter the desired values.

- E2 maximums: 200, 200, 50 mm

- E3 maximums: 300, 300, 100 mm

Axis Limit

-----------------------------­X Limit: 300.00 mm
Y Limit: 300.00 mm
Z Limit: 150.00 mm

- E4 maximums: 400, 400, 100 mm

- E5 maximums: 500, 500, 150 mm

[F1] OK [F3] Default

- E6 maximums: 620, 500, 150 mm

• Press F1 to save or exit.

or

• Press F3 to return to the factory default
settings.

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E Series Automated Dispensing System

Setting System Parameters (continued)

Jog Acceleration

Jog Acceleration is how the robot accelerates when the FAST button is pressed (applies to program creation in the
Teach Mode).

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to JOG

ACCELERATION.

• Press ENTER.

[MENU 1] 1/2
01 Group Edit
02 Ex. Step & Repeat
03 Program Name
04 Axis Limit
05 Initialize Output
06*Jog Acceleration
07 Teach Move Z Clearance

2

, , or >

• Press 1 HIGH, 2 MEDIUM, or 3 LOW.

• Press F1 to save or exit.

Jog Acceleration

-----------------------------­1 High
2 Medium
3 Low
Select: _

[F1] OK

Teach Move ZClearance (How High the Tip Lifts in the Teach Mode)

When testing programs, save time by limiting how high the tip raises as it moves from point to point. This is done
by adjusting the setting for Teach Move ZClearance. This setting is in effect only when the system is in the Teach
Mode.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to TEACH MOVE
ZCLEARANCE.

• Press ENTER.

[MENU 1] 1/2
01 Group Edit
02 Ex. Step & Repeat
03 Program Name
04 Axis Limit
05 Initialize Output
06 Jog Acceleration
07*Teach Move Z Clearance

2

or > xx >

• Press 0 or 1 to switch the Teach Move
ZClearance function OFF or ON.

• Press the number keys to enter the
maximum Z Lift Height.

Teach Move Z Clearance

-----------------------------­Off(0)/On(1): 1
Z Lift Height: 23 mm

• Press F1 to save and exit.

When Teach Move ZClearance is

[F1] OK

switched ON, the tip raises no higher
than the value specied for Z Lift
Height (relative to the current point) as
the robot moves between dispense
points in the Teach Mode.

When Teach Move ZClearance is
switched OFF, the system ignores the
setting for Z Lift Height.

Range: 0 to the Z axis travel limit

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E Series Automated Dispensing System

Setting System Parameters (continued)

Point to Point Arc Jump

Point to Point Arc Jump is the motion the tip makes as it moves from point to point. The default is up, across, and
down. The optional movement is in an arc motion, which can result in faster program cycle times. The distance the
tip travels up and down is based on the ZClearance.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to POINT TO POINT
ARC JUMP.

• Press ENTER.

[SETUP] 1/3
01 XY Move Speed
02 Z Move Speed
03*Point to Point Arc Jump
04 Park Position
05 Calibration Point
06 Mark Points
07 Program Output Status

2

or >

• Press 1 ENABLE to make the tip move
in an arc shape.

• Press 2 DISABLE to make the tip move
in an up, across, and down shape.

• Press F1 to save or exit.

Point to Point Arc Jump
Disable

-----------------------------­1 Enable
2 Disable
Select: _

[F1] OK

Park Position

Park Position is the XYZ location the tip moves to when any of the following occurs:

• A program includes a Park Position command.

• A program is paused (the START button was pressed and Pause Status is set to Park Position).

• At the end of a dispense cycle.

NOTE: When the EMERGENCY STOP button is pressed, the robot moves to the home position (0, 0, 0).

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to PARK POSITION.

• Press ENTER.

[SETUP] 1/3
01 XY Move Speed
02 Z Move Speed
03 Point to Point Arc Jump
04*Park Position
05 Calibration Point
06 Mark Points
07 Program Output Status

2

or >

• To move the tip to the current Park
Position, press F2.

• To change the Park Position, press F3,
jog the tip to the desired Park Position

Park Position

-----------------------------­X: 000.00 mm
Y: 000.00 mm
Z: 000.00 mm

location, and press F1.

• Press F1 to save or exit.

[F1] OK [F2] Move [F3] Jog

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E Series Automated Dispensing System

Setting System Parameters (continued)

Pause Status (Tip Pause Location)

When you press the START button on the front of the robot, the system stops dispensing and the tip stays at its
current location or moves based on the setting for Pause Status.

NOTE: If the system is paused during dispensing, the system shuts off the dispenser, compromising pattern
integrity.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to PAUSE STATUS.

• Press ENTER.

[SETUP] 2/3
08*Pause Status
09 Auto Purge
10 Pre-cycle Initialize
11 Pre-dispense Wait Time
12 Default Dispense Port
13 Needle Detect Setup
14 Run Limit

2

or >

• Press 1 PARK POSITION to cause the
tip move to the Park Position.

• Press 2 STAND to cause the tip to stop
at the next programmed position.

• Press F1 to save or exit.

Pause Status
Park Position

-----------------------------­1 Park Position
2 Stand
Select: _

[F1] OK

Pre-Cycle Initialize (Auto-Initialize)

If Pre-cycle Initialize is enabled, the system automatically moves the dispensing tip to the Home Position and
initializes between each dispense cycle.

# Key Press Step Teach Pendant Display

1

> >

2

or >

• Press SETUP.

• MOVE UP / DOWN to PRE-CYCLE
INITIALIZE.

• Press ENTER.

• Press 1 ENABLE to initialize between
dispense cycles.

• Press 2 DISABLE for no initialization
between dispense cycles.

• Press F1 to save or exit.

[SETUP] 2/3
08 Pause Status
09 Auto Purge
10*Pre-cycle Initialize
11 Pre-dispense Wait Time
12 Default Dispense Port
13 Needle Detect Setup
14 Run Limit

Pre-cycle Initialize
Disable

-----------------------------­1 Enable
2 Disable
Select: _

[F1] OK

36 www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Setting System Parameters (continued)

Pre-Dispense Wait Time

Pre-dispense Wait Time is a wait time that occurs prior to the start of each dispense command within a program.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to PRE-DISPENSE
WAIT TIME.

• Press ENTER.

[SETUP] 2/3
08 Pause Status
09 Auto Purge
10 Pre-cycle Initialize
11*Pre-dispense Wait Time
12 Default Dispense Port
13 Needle Detect Setup
14 Run Limit

2

x >

• Enter the desired value.

• Press F1 to save or exit.

Pre-dispense Wait Time

-----------------------------­Current Time: 0.0 s
New Time: 0.0 s

[F1] OK

Default Dispense Port (Dispense Port Output)

For most systems, a cable from the dispenser is connected to the Dispenser port on the back of the robot. The
default dispense output port for this connection is 0. The dispense port can also be set to any of the optional I/O
ports (ports 1 to 8).

®

NOTE: If the system includes a PICO
use the Dispense Port command (under the Type menu) within the dispense program to set the port for the
dispenser. Refer to “15 Dispense Port” on page102 for more information on the Dispense Port command.

# Key Press Step Teach Pendant Display

1

> >

dispense valve cable, outputs 1 or 2 can be used. For multiple dispensers,

• Press SETUP.

• MOVE UP / DOWN to DEFAULT
DISPENSE PORT.

• Press ENTER.

[SETUP] 2/3
08 Pause Status
09 Auto Purge
10 Pre-cycle Initialize
11 Pre-dispense Wait Time
12*Default Dispense Port
13 Needle Detect Setup
14 Run Limit

2

x >

• Enter the desired value (0 to 8).

NOTE: Port 0 refers to the Dispenser
port connector on the rear panel of the
robot.

Default Dispense Port

-----------------------------­Port: 0

Port 0 is system default

• Press F1 to save or exit.

[F1] OK

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E Series Automated Dispensing System

Setting System Parameters (continued)

Measurement Unit

The System can display units of measure in millimeters or inches.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to MEASUREMENT
UNIT.

• Press ENTER.

[SETUP] 3/3
15*Measurement Unit
16 Password Setup
17 Remote Command
18 Height Sensor
19 Language
20 System Information

2

or >

• Press 1 to display units in mm.

• Press 2 to display units in inches.

• Press F1 to save or exit.

Measurement Unit (mm)

-----------------------------­1 mm
2 inch

Select: _
[F1] OK

Password Setup

Use Password Setup under the Setup menu to change the default password. The following functions are password
protected: Reset Counter, Memory, System Lockout, and Password Setup. If you want to protect all functions
accessible in the Teach Mode, change the default password to a new password.

NOTES:

• The default password is blank.

• If the password is forgotten, use the master password (00000000) to gain access.

• A password can include only numbers and is limited to eight digits.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to PASSWORD
SETUP.

• Press ENTER.

[SETUP] 3/3
15 Measurement Unit
16*Password Setup
17 Remote Command
18 Height Sensor
19 Language
20 System Information

2

• Enter the current password. The default
password is blank (no digits).

• Press ENTER.

Password Setup

Password: _

[blank] or xxxxxxxx >

[F1] OK

3

xxxxxxxx >

• Type the new password and press
ENTER, type the new password again to
conrm, then press F1.

or

Password Setup

-----------------------------­New Password :
Confirm Password:

• To restore password protection to the
default settings, clear all characters

[F1] OK

from the New Password eld and press
F1.

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E Series Automated Dispensing System

Setting System Parameters (continued)

Auto Purge

You can set up the system to automatically purge after it has been idle for a specied period of time. When the
system purges, the tip moves to the park position and purges material according to the parameters set for Auto
Purge. This command is useful for two-part materials that have a very short pot life.

The Auto Purge function is set for the current program. Auto Purge is turned off by default (Wait Time and Purge
Time are both set to 0). Enter non-zero values to enable this feature. Auto Purge is in effect when the system is in the
Run Mode.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to AUTO PURGE.

• Press ENTER.

[SETUP] 2/3
08 Pause Status
09*Auto Purge
10 Pre-cycle Initialize
11 Pre-dispense Wait Time
12 Default Dispense Port
13 Needle Detect Setup
14 Run Limit

2

or >

Dispenser ON

Dispenser OFF

• Enter values for the Auto Purge
parameters:

Purge Time — How long the system
purges in intervals of 0.1 seconds (in
this example).

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

A diagram of Purge Time and Wait Time
is provided below.

• Press F1 to save or exit.

Wait

Time

Purge

Time

5 2 5 2 5 2

Auto Purge Setup

-----------------------------­Purge Time: 0.1 s
Wait Time: 0.1 s

[F1] OK

Time (seconds)

Example of an Auto Purge setup when Wait Time is 5 seconds and Purge Time is 2 seconds

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E Series Automated Dispensing System

Setting System Parameters (continued)

Language

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to LANGUAGE.

• Press ENTER.

[SETUP] 3/3
15 Measurement Unit
16 Password Setup
17 Remote Command
18 Height Sensor
19*Language
20 System Information

2

x >

• Enter the number for the desired
language.

• Press F1 to save or exit.

Language

-----------------------------­1 English

Select: _
[F1] OK

Key Beep

The key beep sound occurs when a Teach Pendant key is pressed. The default is ON. Follow this procedure to turn
the key beep OFF.

# Key Press Step Teach Pendant Display

1

> >

2

>

• Press MENU1.

• MOVE UP / DOWN to UTILITY MENU.

• Press ENTER.

• MOVE UP / DOWN to KEY BEEP.

• Press ENTER.

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

[UTILITY] 1/1
01 Program
02 Memory
03*Key Beep
04 Online Signals
05 Barcode Scanner
06 System Lockout

3

or >

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• Press 1 ENABLE to switch the key beep
ON.

• Press 2 DISABLE to switch the key beep
OFF.

• Press F1 to save or exit.

Key Beep (All)
Enable

-----------------------------­1 Enable
2 Disable
Select: _

[F1] OK

E Series Automated Dispensing System

Setting the Tool Offset

If your system includes a camera or similar accessory installed on the Z axis, follow this procedure to teach the
system the offset values. The offset values represent the distance between the tip and the accessory.

PREREQUISITES

 The accessory and the valve system are properly installed.

 The XYZ offset values (in mm) needed for this function are calculated.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to UTILITY MENU.

• Press ENTER.

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

2

>

3

>

4

• MOVE UP / DOWN to MEMORY.

• Press ENTER.

• Press 2 TOOL OFFSET.

• Press F1 to enter the offset values that
represent the distance between the tip
and the accessory.

• Enter the offset values (in mm) for
OffsetX, Offset Y, and Offset Z.

Refer to the example below to see how
to calculate the offset values.

[UTILITY] 1/1
01 Program
02*Memory
03 Key Beep
04 Online Signals
05 Barcode Scanner
06 System Lockout

Memory Utility

-----------------------------­1 Clear Memory
2 Tool Offset
Select: _

[F1] OK

Tool Offset

-----------------------------­Offset X: 0.00 mm
Offset Y: 0.00 mm
Offset Z: 0.00 mm

[F1] OK

Example of How to Calculate Tool Offset Values

In this example, the accessory is a camera that has been installed on the robot. Using the camera, create a dispense
dot on the workpiece and record the XYZ coordinates. Next, move the tip to the same location on the workpiece,
create a dispense dot, and record the XYZ coordinates. Calculate the difference between the two coordinates to
obtain the offset values as follows:

• Accessory XYZ values: 10 20 5

• Tip XYZ values: 8 22 15

• Offset XYZ values: 2 -2 -10 (the differences between the accessory XYZ values and
the tip XYZ values)

41www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Setting Up Barcode Scanning

In the Run Mode, programs can be executed using a barcode scanner. To do this, the barcode scanner must be
properly congured and barcode scanning must be enabled.

Configuring the Barcode Scanner

Use a personal computer to congure the barcode scanner before connecting it to the SVC USB port. Refer to
the barcode scanner manufacturer’s documentation when conguring the barcode scanner. Observe the following
guidelines:

• Congure the scanner to read target symbology (for example, Code-128, Code-93, Code-39, etc.).

• Congure the scanner to terminate a scan with carriage return (CR) enabled.

• The program to be executed by the robot will have a label (Program Name) that matches the barcode that will

be scanned. Ensure that the barcode includes the exact Program Name.

• A barcode can consist of any combination of the uppercase letters A-Z, digits 0–9, and any number of the

following special characters: dash(-), period (.), or underscore (_). The maximum length of characters is fteen.

Enabling or Disabling Barcode Scanning

For the system to execute a program using a barcode scanner, the following must occur:

• A program number must have a program name. Refer to “How to Name a Program” on page46.

• A barcode that includes the exact same name as the program to be executed must be generated (refer to

“Conguring the Barcode Scanner” above).

• A properly congured barcode scanner must be connected to the SVC USB port on the front of the robot (refer

to “Conguring the Barcode Scanner” above).

• Barcode scanning must be enabled (refer to page 43).

• The system must be in the Run Mode.

EXAMPLE: A program name is TEST. The programmer generates a barcode with the name TEST embedded in
the barcode. With the robot in the Run Mode, an operator scans the TEST barcode and the system matches the
barcode to the program with the same name (in this case, TEST) and the robot begins executing the program.

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E Series Automated Dispensing System

Setting Up Barcode Scanning (continued)

Enabling or Disabling Barcode Scanning (continued)

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to UTILITY MENU.

• Press ENTER.

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

2

>

3

or >

• MOVE UP / DOWN to BARCODE
SCANNER.

• Press ENTER.

• Press 1 ENABLE to enable the barcode
scanner.

• Press 2 DISABLE to Disable the barcode
scanner.

• Press F1 to save or exit.

[UTILITY] 1/1
01 Program
02 Memory
03 Key Beep
04 Online Signals
05*Barcode Scanner
06 System Lockout

Barcode Reader
Enable

-----------------------------­1 Enable
2 Disable

Select: _
[F1] OK

Setting the Dispenser Ports

There are two ways to modify the dispenser output ports; the correct method to use depends on the number of
dispensers or valves in the system:

• For a system with a single dispenser / valve, change the Default Dispense Port setting. Refer to “Default
Dispense Port (Dispense Port Output)” on page37.

• For a system with multiple dispensers / valves, use the Dispense Port command. Refer to “15 Dispense Port”
on page102.

43www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Programming

This section provides how-to procedures for the most commonly performed programming tasks. 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14.

• Complete setup tasks as applicable. Refer to “Setup” on page32.

Refer to “Concepts” on page18 and to “Overview of the Teach Pendant” on page20 for important
programming concepts and to learn how to use the Teach Pendant.

Working with Programs and Commands

This section focuses on how to manipulate the programs stored on the Teach Pendant. For information on how to
create dispensing patterns, refer to “Creating Patterns” on page60.

How to Switch from Run Mode to Teach Mode

When the system is switched on, the default mode of operation is the Run Mode. To create programs, the system
must be in the Teach Mode. Refer to “Run Mode vs. Teach Mode” on page21 for more information on the modes
of operation.

# Key Press Step Teach Pendant Display

1

> >

• Press F1.

• MOVE UP / DOWN to TEACH/RUN.

• Press ENTER.

[PROGRAM MENU] 1/1
01*Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06 Auto Needle Adjust

2

• Press HOME. If prompted, enter a
password.

[ TEACH MODE ]

PRESS [HOME]

TO INITIALIZE SYSTEM

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Open and Edit a Program

All programs have a unique number from 01 to 99. By default, the last program number that was open before the
system was shut down is the same program number that opens when the system is switched on.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

• Press F1.

• MOVE UP / DOWN to PROGRAM LIST.

• Press ENTER.

[PROGRAM MENU] 1/1
01 Teach/Run
02*Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06 Auto Needle Adjust

2

3

4

xxxxx or >

5

>

or >

• MOVE UP / DOWN to select the desired
program.

• Press ENTER.

The selected program becomes the
current program and remains open until
another program number is selected.

• MOVE UP / DOWN to select the
command line to edit.

• Press ENTER.

• Enter the new coordinates manually.

or

• Press F3 to update the XYZ values to
the current tip location.

• Press F1 to save and exit or ESC to
cancel the changes.

• Make other changes as needed.

• Press F1 to save and exit.

Program List

-----------------------------­01 06
02 07
03*EXAMPLE 08
04 09
05 10
[F1] OK

0001 Line Start 10.0,1
0002 Line Passing 10.0,1
0003 Arc Point
0004*Dispense Dot
0005 EMPTY
0006 EMPTY
0007 EMPTY
0008 EMPTY

Dispense Dot 1/3

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Name a Program

Nordson EFD recommends assigning a unique name to all programs. If a program is not named, the system
prompts for a Program Name. Program names are limited to 15characters. A program name is required for the
barcode scanning capability.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to PROGRAM
NAME.

• Press ENTER.

[MENU 1] 1/2
01 Group Edit
02 Ex. Step & Repeat
03*Program Name
04 Axis Limit
05 Initialize Output
06 Jog Acceleration
07 Teach Move Z Clearance

2

> >

• Press the X jog buttons to move left /
right and the Y jog buttons to move up /
down through the characters.

• Press ENTER to select characters.

• Press CLEAR to delete characters.

• Press F1 to save and exit.

Program Name

----------------------------­EXAMPLE

-----------------------------

[F1] OK

0123456789-._
ABCDEFGHIJKLM
NOPQRSTUVWXYZ

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Clear or Copy a Program

Program numbers 01 to 99 are either populated (program present) or empty (no program present). A currently open
program can be cleared of its contents or the current program contents can be copied to a new program number.
When program content is copied to a new program number, the content of the destination program is overwritten.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 The program you want to clear or copy is currently open. Refer to “How to Open and Edit a Program” on

page45.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to UTILITY MENU.

• Press ENTER.

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

2

>

3

or >

4

or

• MOVE UP / DOWN to PROGRAM.

• Press ENTER.

• Press 1 CLEAR to empty all addresses
in the current program.

• Press 2 COPY to copy the current
program.

• Press F1 to continue.

• If you pressed 1 (Clear), the system
prompts for conrmation.

• Press F1 to accept the clear or F2 to

[UTILITY] 1/1
01*Program
02 Memory
03 Key Beep
04 Online Signals
05 Barcode Scanner
06 System Lockout

Program Utility
Program 1

-----------------------------­1 Clear
2 Copy
Select: _

[F1] OK

Program Utility

-----------------------------­Clear Program 1

cancel the clear.

[F1] Yes [F2] No

5

xx >

• If you pressed 2 (Copy), the system
prompts for the program number to
copy to (program number 1–99).

Program Utility

----------------------------­Copy Program 1 To: _

• Press F1 to copy all program contents
to the selected program number.

NOTE: If the destination program is

[F1] OK

not empty, the program contents are
overwritten by the copied program.

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Jump to a Specific Address or Label

Use the Jump function to quickly move to a specic address line or label number within a dispense program.

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 The program you want to edit is currently open. Refer to “How to Open and Edit a Program” on page45.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU 2.

• MOVE UP / DOWN to JUMP.

• Press ENTER.

[MENU 2] 1/1
01 Coordinate Absolute Move
02 Coordinate Relative Move
03 Undo Command
04 Redo Command
05 Park Position
06*Jump

2

or

• To jump to a specic address, use the
number keys to enter the address, then
press F1.

Jump

-----------------------------­Address: 1267

• To jump to a Label, press F2. The Jump
Label screen appears.

[F1] OK [F2] Label

3

or

• To jump to a specic label, use the
number keys to enter the label number,
then press F1.

Jump

-----------------------------­Label: 9999

• To return to the Jump to Address
screen, press F2.

[F1] OK [F2] Address

How to Insert or Delete a Command

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 The program you want to edit is currently open. Refer to “How to Open and Edit a Program” on page45.

Key Press Function

To insert a command, press INS. The command currently shown in the display increments by
one address and a new, empty address is inserted at the current address.

To delete a command, make sure it is shown in the Teach Pendant display, then press DEL > F1.

>

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Change a Group of Addresses (Group Edit)

You can use the selections under Group Edit to make a global change to a batch, or group, of selected addresses in
a program.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 The program you want to edit is currently open. Refer to “How to Open and Edit a Program” on page45.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to GROUP EDIT.

• Press ENTER.

[MENU 1] 1/2
01*Group Edit
02 Ex. Step & Repeat
03 Program Name
04 Axis Limit
05 Initialize Output
06 Jog Acceleration
07 Teach Move Z Clearance

2

or >

Do one of the following:

• MOVE UP / DOWN and use the number
keys to enter the range of addresses.

Group Edit

-----------------------------­From Address: 1209
To Address: 1254

• Press F2 to select all the addresses in
the program.

• Press F3 to select all the addresses

or

[F1] OK [F2] All [F3] End

from the current address to the end of

or >

the program.

• Press F1 to continue.

3

or

• Press the number for the operation you
want to perform for the specied range
of addresses, or

>

• Press F2 to move to the next screen.

1 — Copies the selected addresses

2 — Deletes the selected addresses

Group Edit 1209-1254 1/2

-----------------------------­1 Copy 5 Line Speed
2 Delete 6 Z Value
3 Move 7 Point Offset
4 Dispense Time 8 Offset To
Select: _
[F1] OK [F2] Next

3 — Moves the selected addresses to a

new address number

4 — For Dispense Dot commands only,

changes the Dispense Time value
for all selected addresses by the
specied percentage.

5 — Changes the Line Speed value

for all selected addresses by the
specied percentage.

Continued on next page

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Change a Group of Addresses (Group Edit) (continued)

# Key Press Step Teach Pendant Display

Step 3, continued from previous page

6 — Changes the Z Value for all

selected addresses to the absolute
Z value.

7 — Changes the XYZ values for

all selected addresses by the
specied offset value.

8 — Changes the XYZ values for all

selected addresses by allowing
you to jog the tip from its current
location to a new location. The
difference between the two
locations determines the offset
value.

9 — Changes the XYZ values for all

selected addresses by ipping
points along the X axis or the
Yaxis. Refer to “Example
Illustrations of Mirror Points and
Rotate Points” on page51 for an
example.

10 — Rotates the tip the specied

number of degrees (±180°) for all
selected addresses. Before this
occurs, the system prompts you
to jog the tip to a starting point (or
rotation origin). Refer to “Example
Illustrations of Mirror Points and
Rotate Points” on page51 for
an example.

4

• Press F1 to continue and follow the
instructions on the display to complete
the selected action for the specied
range of addresses.

5

• When done, press F1 again to save or
exit.

Group Edit 1209-1254 1/2

-----------------------------­1 Copy 5 Line Speed
2 Delete 6 Z Value
3 Move 7 Point Offset
4 Dispense Time 8 Offset To
Select: _
[F1] OK [F2] Next

Group Edit 1209-1254 2/2

-----------------------------­9 Mirror Points
10 Rotate Points

Select: _
[F1] OK [F2] Next

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Change a Group of Addresses (Group Edit) (continued)

Example Illustrations of Mirror Points and Rotate Points

2

1

3

4

2

1

3

4

Example illustration of Mirror Points under Group Edit

Mirror X

Mirror Y

4

1

2

2

3

4

Centerline of points

3

1

Centerline of points

Counterclockwise rotation

90°

4

2

1

3

Example illustration of Rotate Points under Group Edit

Original Position

1

3

2

Rotation
origin

Clockwise rotation

3

1

2

4

4

-90°

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Set Mark Points

If the location and / or orientation of a workpiece changes, the system can automatically adjust all the XY values in a
program to the new location or orientation. This is done using the Program Offset function. For this function to work
properly, follow this procedure to set two Mark Points on the workpiece.

PREREQUISITES

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

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to MARK POINTS.

• Press ENTER.

[SETUP] 1/3
01 XY Move Speed
02 Z Move Speed
03 Point to Point Arc Jump
04 Park Position
05 Calibration Point
06*Mark Points
07 Program Output Status

2

3

Mark 1

+

>

>

• Jog the tip to the rst mark point and
lower the tip until it is as close to the
mark point as possible.

• Press F1 to save the setting.

• Jog the tip to the second mark point
and lower the tip until it is as close to
the mark point as possible.

• Press F1 to save the setting.

The system saves the mark points. Now,
if you need to change the position and/
or orientation of a workpiece, you can
use Program Offset (refer to page 53)
to update all the XY locations in the
program to the new workpiece location
and / or orientation.

Mark Points

------------------------------

Jog tip to Mark Point 1

------------------------------

[F1] OK

Mark Points

------------------------------

Jog tip to Mark Point 2

------------------------------

[F1] OK

+

Mark 2

Example of two Mark Point locations on a workpiece

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Adjust All Points in a Program (Program Offset)

Use Program Offset to update all the points in a program when the position (location or orientation) of a workpiece
has changed. For this function to work properly, you must set two Mark Points.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

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

# Key Press Step Teach Pendant Display

1

2

> >

• Set Mark Points for the workpiece.
Refer to “How to Set Mark Points” on
page52.

• Press F1.

• MOVE UP / DOWN to PROGRAM
OFFSET.

• Press ENTER.

[PROGRAM MENU] 1/1
01 Teach/Run
02 Program List
03 Reset Counter
04*Program Offset
05 Needle Adjust
06 Auto Needle Adjust

3

Mark 1

+

+

Mark 2

Example illustration of Program Offset

• Press ENTER to begin. Follow the
instructions shown on the display.

When complete, the system
automatically adjusts all the points
in the current program for the new
workpiece position.

Mark 1

+

Program Offset

------------------------------

Press [ENTER] to begin

------------------------------

+

Mark 2

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Expand a Step & Repeat Command

Use this function to expand an existing Step & Repeat command to the show all the addresses contained in the
command. The Ex. Step & Repeat command is useful for editing individual dispense commands.

NOTES:

• The Ex. Step & Repeat command can be reversed using Undo Command under Menu2.

• An expanded Step & Repeat command requires more addresses than an unexpanded Step & Repeat
command.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 The program you want to edit is currently open. Refer to “How to Open and Edit a Program” on page45.

 The Step & Repeat command you want to expand is selected. Refer to “How to Make an Array of Dots (Step &

Repeat)” on page68 for details on the Step & Repeat command.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to EX. STEP &
REPEAT.

• Press ENTER.

The selected Step & Repeat command
is expanded to the root level of
the program and all addresses are
renumbered accordingly.

[MENU 1] 1/2
01 Group Edit
02*Ex. Step & Repeat
03 Program Name
04 Axis Limit
05 Initialize Output
06 Jog Acceleration
07 Teach Move Z Clearance

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Lock or Unlock the System

Use System Lockout under the Utility menu to prohibit unauthorized access to dispense programs.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 A system password has been set (the default is blank). Refer to “Password Setup” on page38.

To Lock the System

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to UTILITY
MENU.

• Press ENTER.

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

2

>

3

• MOVE UP / DOWN to SYSTEM
LOCKOUT.

• Press ENTER.

• Enter the password.

[UTILITY] 1/1
01 Program
02 Memory
03 Key Beep
04 Online Signals
05 Barcode Scanner
06*System Lockout

System Lockout

• Press F1.

>

4

The system is now locked and

Password: _

[F1] OK

automatically switches to the Run
Mode.

• Press HOME to continue.

System Locked!

NOTE: When the system is locked,
the Teach Pendant prompts for a
password every time you want to
switch from the Run Mode to the
Teach Mode. To disable the system
lockout, continue to the next section.

[ RUN MODE ]

PRESS [HOME]

TO INITIALIZE SYSTEM

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

To Unlock the System

# Key Press Step Teach Pendant Display

1

> >

• Press F1.

• MOVE UP / DOWN to TEACH/RUN.

• Press ENTER.

[PROGRAM MENU] 1/1
01*Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06 Auto Needle Adjust

2

• Enter the password.

Teach Mode

• Press F1.

>

3

4

> >

5

• Press HOME.

• Press MENU1.

• MOVE UP / DOWN to UTILITY
MENU.

• Press ENTER.

• MOVE UP / DOWN to SYSTEM
LOCKOUT.

• Press ENTER.

>

Password: _

[F1] OK

[ TEACH MODE ]

PRESS [HOME]

TO INITIALIZE SYSTEM

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

[UTILITY] 1/1
01 Program
02 Memory
03 Key Beep
04 Online Signals
05 Barcode Scanner
06*System Lockout

6

• Enter the password.

System Lockout

• Press F1.

>

The system no longer requires a
password to switch from Run Mode

Password: _

to Teach Mode.

[F1] OK

System Unlocked !

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Upload / Download Programs Using the SVC USB Port

You can use the SVC USB port on the front of the robot to upload or download programs to or from the robot.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

• Switch OFF the robot.

• Connect the USB drive to the SVC
USB port on the front of the robot.

• Switch ON the robot.

2

> > -

• Press USB. The USB menu appears.

- Select 1 to load a *.NDN program
selected from the USB drive to the
specied program number on the

[USB] 1/1
01 Load Program
02 Save Program
03 Load All Programs
04 Save All Programs

robot.

- Select 2 to save the current program
to the USB drive as a *.NDN le.

- Select 3 to load a *.PKG le from
the USB drive. Loading this le may
overwrite existing programs located
in populated program numbers.

- Select 4 to save all populated robot
programs to the USB drive as a
*.PKG le.

• Follow the instructions on the display
to complete the selected action.

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

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
steps and the other applicable sections of this manual to create a program.

PREREQUISITES

 The system is properly installed and set up. Refer to “Installation” on page14 and “Setup” on page32.

 The Teach Pendant cable is connected to the robot and the system is in the Teach Mode. Refer to “How to Switch

from Run Mode to Teach Mode” on page44.

 (Recommended) The tip height is calibrated; if the tip was changed, perform a Needle Adjust (systems without

a tip detector) or Auto Needle Adjust (systems with a tip detector). Refer to “Calibrating the Tip Height” on
page70.

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

# Key Press Step Teach Pendant Display

1

> > >

2

• Press F1.

• MOVE UP / DOWN to TEACH/
RUN.

• Press ENTER.

• Press HOME. If prompted, enter
a password.

The system opens the last
program number that was
modied prior to shutdown.

• Jog the tip to the rst point in a
pattern.

[PROGRAM MENU] 1/1
01*Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06 Auto Needle Adjust

3

> x

• When the tip is at the correct
XYZ location for the rst point,
press TYPE to select a dispense
command for the point.

• Refer to the following sections
of this manual for information on

[TYPE] 1/4
01 Dispense Dot
02 Line Start
03 Line Passing
04 Arc Point
05 Line End
06 Circle
07 End Program

creating programs:

- “Best Practices for
Programming” on page19.

- “Creating Patterns” on
page60.

- “Appendix A, Type Menu
Reference” on page89 for
detailed information on all
commands.

NOTE: You can also press the
ENTER key in empty address
lines to open the Type menu.

4

• Continue entering commands
until the program is complete.

Continued on next page

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E Series Automated Dispensing System

Working with Programs and Commands (continued)

How to Create and Run a Program (continued)

# Key Press Step Teach Pendant Display

5

>

6

7

8

>

• Press SHIFT > END to register
the last address as the end of the
program.

• Press START on the Teach
Pendant to run the program in the
Teach Mode.

• Make adjustments in the
program until the desired result is
achieved.

• When complete, press F1 >
HOME to switch the system to
the Run Mode.

[ RUN MODE ]

PRESS [HOME]

TO INITIALIZE SYSTEM

9

10

or

>

If the program was not named
using MENU1 > PROGRAM NAME,
the system prompts for a program
name:

• Press F1 to name the program
(recommended).

• Press F2 to continue without
naming the program.

NOTE: To switch programs,
refer to “How to Open and Edit a
Program” on page45.

• If you pressed F1, use the jog
keys and the ENTER key to enter
a program name.

• Press F1 to save and continue.

Setup Program Name?

[F1] Yes [F2} No

Program Name

-----------------------------­EXAMPLE

------------------------------

[F1] OK

0123456789-._
ABCDEFGHIJKLM
NOPQRSTUVWXYZ

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E Series Automated Dispensing System

Creating Patterns

This section provides quick-reference procedures for creating the most commonly used dispensing patterns. Use
the procedures in this section in tandem with “Appendix A, Type Menu Reference” on page89, which provides
detailed information on commands.

For basic procedures on how to create a program and how to manipulate programs (such as opening programs or
copying, inserting, and deleting commands), refer to “Working with Programs and Commands” on page44.

About Navigating the Type Menu

• Press the MOVE UP, MOVE DOWN, ENTER, and numeric keys to move through and change XYZ values.

• Press F1 (OK) to save displayed values and exit the menu.

• Press F2 (Next) to accept displayed values and move to the next screen.

• Press F3 (Current) to change displayed coordinates to the current tip location.

• Press ESC to cancel any changes to return to the program.

How to Make a Dot

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

• Jog the dispensing tip to the desired
XYZ location for the dispense dot.

2

>

3

>

4

>

5

• Press SHIFT > TYPE to open the
Dispense Dot screen.

• Make XYZ coordinate changes as
needed.

• Press F2 to move through the Dispense
Dot parameter screens.

• Press F1 to save and exit.

• Press SHIFT > END to register the end
of the program.

• Press START to run the program.

Dispense Dot 1/3

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Dispense Dot 3/3

-----------------------------­Retract Distance: 100.00 mm
Retract Low: 10.0 mm/s
Retract High: 10.0 mm/s

[F1] OK [F2] Next

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make a Line

Line Passing

Line Start Line End

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

• Jog the dispensing tip to an XYZ
location for the rst dispense point (Line
Start).

2

>

3

>

4

• Press SHIFT > 1 to register the location
as a Line Start point.

• Make XYZ coordinate changes as
needed.

• Press F2 to move to the Line Start
parameter screen.

• Press F1 to save and exit.

• Jog the tip to the XYZ location of the

Line Start 1/2

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Line Start 2/2

-----------------------------­Line Speed: 10.0 mm/s
Pre-move Delay: 0.00 s
Settling Distance: 0.00 mm
Dispenser Off(0)/On(1): 1

[F1] OK [F2] Next

second point (Line Passing).

5

>

• Press SHIFT > 2 to register the location
as a Line Passing point.

• Make XYZ coordinate changes as
needed.

Line Passing 1/2

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

6

>

• Press F2 to move to the Line Passing
parameter screen.

• Press F1 to save and exit.

Line Passing 2/2

-----------------------------­Line Speed: 10.0 mm/s
Node Time: 0.00 s
Dispenser Off(0)/On(1): 1

[F1] OK [F2] Next

Continued on next page

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make a Line (continued)

# Key Press Step Teach Pendant Display

7

• Jog the tip to the XYZ location of for the
last dispense point (Line End).

8

9

10

11

>

>

>

• Press SHIFT > 3 to register the location
as a Line End point.

• Make XYZ coordinate changes as
needed.

• Press F2 to move through the Line End
parameter screens.

• Press F1 to save and exit.

• Press SHIFT > END to register the end
of the program.

• Press START to run the program.

Line End 1/4

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Line End 4/4

-----------------------------­Retract Distance: 0.00 mm
Retract Low: 20.0 mm/s
Retract High: 80.0 mm/s

[F1] OK [F2] Next

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make an Arc

Arc Point

Line Start Line End

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

• Jog the dispensing tip to an XYZ
location for the rst dispense point (Line
Start).

2

>

3

>

4

• Press SHIFT > 1 to register the location
as a Line Start point.

• Make XYZ coordinate changes as
needed.

• Press F2 to move to the Line Start
parameter screen.

• Press F1 to save and exit.

• Jog the tip to the XYZ location of where

Line Start 1/2

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Line Start 2/2

-----------------------------­Line Speed: 10.0 mm/s
Pre-move Delay: 0.00 s
Settling Distance: 0.00 mm
Dispenser Off(0)/On(1): 1

[F1] OK [F2] Next

the top of the arc should be (Arc Point).

5

> >

• Press SHIFT > MENU1 to register the
location as an Arc Point.

• Make XYZ coordinate changes as
needed.

Arc Point

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

• Press F1 to save and exit.

[F1] OK [F3] Current

6

• Jog the tip to the XYZ location where
the arc should end (Line End).

Continued on next page

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make an Arc (continued)

# Key Press Step Teach Pendant Display

7

>

• Press SHIFT > 3 to register the location
as a Line End point.

• Make XYZ coordinate changes as
needed.

Line End 1/4

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

8

9

10

>

>

• Press F2 to move through the Line End
parameter screens.

• Press F1 to save and exit.

• Press SHIFT > END to register the end
of the program.

• Press START to run the program.

Line End 4/4

-----------------------------­Retract Distance: 0.00 mm
Retract Low: 20.0 mm/s
Retract High: 80.0 mm/s

[F1] OK [F2] Next

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make a Circle

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

or

2

• Press SHIFT > 4 to open the Circle
menu.

• Press F1 to make a circle by selecting
three points on the diameter of the
circle.

• Press F2 to make a circle by entering
the center point of the circle.

• Follow the directions on the display to
enter the XYZ coordinates.

Circle

------------------------------

[F1] 3-Point [F2] Center Point

------------------------------

3

>

4

>

5

• Press F2 to move through the Circle
parameter screens.

• Press F1 to save and exit.

• Press SHIFT > END to register the end
of the program.

• Press START to run the program.

Circle 5/5

-----------------------------­Retract Distance: 0.00 mm
Retract Low: 10.0 mm/s
Retract High: 80.0 mm/s

[F1] OK [F2] Next

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Fill an Area

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

2

> xx.xx >

• Press SHIFT > 9 to open the Fill Area
menu, then select the Fill Type.

• Press 1 RECTANGLE.

NOTE: This procedure shows how to ll
a rectangle. Refer to “22 Fill Area” on
page106 for detailed information on
each of the ll types.

• Press F2 to move to the Fill Area
parameter screen.

• Enter the Width and Band settings
for the area to be lled, then press F1
to save the setting and return to the
program.

Fill Area 1/2

-----------------------------­Fill Type: 2
1 Rectangle 5 Circle Out
2 Rectangle In 6 Polygon In
3 Rectangle Out 7 Polygon Out
4 Circle In
[F1] OK [F2] Next

Fill Area 2/2

-----------------------------­Width: 0.00 mm
Band: 0.00 mm

[F1] OK [F2] Next

3

• Jog the dispensing tip to the top left
corner of the area to be lled.

4

>

5

>

6

• Press SHIFT > 1 to register the location
as a Line Start point.

• Press F2 to move to the Line Start
parameter screen.

• Press F1 to save and exit.

• Jog the dispensing tip to the bottom

Line Start 1/2

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Line Start 2/2

-----------------------------­Line Speed: 10.0 mm/s
Pre-move Delay: 0.00 s
Settling Distance: 0.00 mm
Dispenser Off(0)/On(1): 1

[F1] OK [F2] Next

right corner of the area to be lled.

Continued on next page

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Fill an Area (continued)

# Key Press Step Teach Pendant Display

7

>

• Press SHIFT > 3 to register the location
as a Line End point.

Line End 1/4

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

8

9

10

>

>

• Press F2 to move through the Line End
parameter screens.

• Press F1 to save and exit.

• Press SHIFT > END to register the end
of the program.

• Press START to run the program.

Line End 4/4

-----------------------------­Retract Distance: 0.00 mm
Retract Low: 20.0 mm/s
Retract High: 80.0 mm/s

[F1] OK [F2] Next

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make an Array of Dots (Step & Repeat)

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

Dispense

Dot

Dispense

Dot

Dispense

Dot

Dispense

Dot

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 Multiple workpieces are properly positioned on the xture plate. Refer to “12 Step & Repeat 2D” on page98

and to “12 Step & Repeat 3D” on page100 for detailed information on this command.

# Key Press Step Teach Pendant Display

1

> > >

• Press SHIFT > 8 to open the Label
screen.

• Enter a Label number (in this example,

Label

-----------------------------­Label: 2

the number 2).

• Press F1 to save and exit.

[F1] OK

2

• Jog the dispensing tip to the desired
XYZ location for the rst dispense dot.

3

>

• Press SHIFT > TYPE to open the
Dispense Dot screen.

• Make XYZ coordinate changes as
needed.

Dispense Dot 1/3

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

4

>

5

> >

• Press F2 to move through the Dispense
Dot parameter screens.

• Press F1 to save and exit.

• Press SHIFT > 5 to open the Step &
Repeat menu.

• Press F1.

Dispense Dot 3/3

-----------------------------­Retract Distance: 100.00 mm
Retract Low: 10.0 mm/s
Retract High: 10.0 mm/s

[F1] OK [F2] Next

Step & Repeat

------------------------------

[F1] Step & Repeat 2D
[F2] Step & Repeat 3D

------------------------------

Continued on next page

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E Series Automated Dispensing System

Creating Patterns (continued)

How to Make an Array of Dots (Step & Repeat) (continued)

# Key Press Step Teach Pendant Display

6

• Press F2 to move to the next screen.

Step & Repeat 2D 1/2

---------------------------­Direction X(1)/Y(2): 1
X Offset: 1.00 mm
Y Offset: 1.00 mm

[F1] OK [F2] Next

7

>

8

>

9

• Enter 2 in the Column eld.

• Enter 2 in the Row eld.

• Enter the label number from step 1 for
Goto Label (in this example, 2).

• Press F1 to save and exit.

• Press SHIFT > END to register the end
of the program.

• Press START to test the program.

Step & Repeat 2D 2/2

---------------------------­Column (X): 2
Row (Y): 2
Path S(1)/N(2): 1
Goto Label: 2

[F1] OK [F2] Next

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E Series Automated Dispensing System

Calibrating the Tip Height

Tip height is the distance from the tip to the xture plate surface. The tip height must be calibrated and then
recalibrated as needed to compensate for slight variations in height that occur when changes are made to the
system, primarily nozzle or tip change-out.

NOTE: For information on when to calibrate the tip height, to “About Tip Height” on page19.

Systems without a Tip Detector

If your system does not include the optional tip detector, follow these procedures to calibrate the tip height and then
to manually recalibrate the tip height after a same-to-same dispensing tip change.

NOTE: The optional tip detector can be added to a existing system. Refer to “Tip Alignment Kit” on page79.

Set a Calibration Point (Initial Setup for Needle Adjust)

The system uses a calibration point for the Needle Adjust function to recalibrate the tip height after a same-to-same
dispensing tip change.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to CALIBRATION
POINT.

• Press ENTER.

[SETUP] 1/3
01 XY Move Speed
02 Z Move Speed
03 Point to Point Arc Jump
04 Park Position
05*Calibration Point
06 Mark Points
07 Program Output Status

2

>

• Jog the tip down until it is as close to
the xture plate surface as possible.

• Press F1 to save the setting.

Calibration Point

------------------------------

Jog to position

------------------------------

[F1] OK

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E Series Automated Dispensing System

Calibrating the Tip Height (continued)

Recalibrate the Tip (Needle Adjust)

PREREQUISITES

 The tip height is calibrated. Refer to “Set a Calibration Point (Initial Setup for Needle Adjust)” on page70.

# Key Press Step Teach Pendant Display

1

> >

• Press F1.

• MOVE UP / DOWN to NEEDLE ADJUST.

• Press ENTER.

[PROGRAM MENU] 1/1
01 Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05*Needle Adjust
06 Auto Needle Adjust

2

• Press ENTER.

The dispensing tip moves to the user­dened calibration point.

NOTE: The tip will be 5 mm (0.2") higher
than the calibrated point to prevent

Needle Adjust

------------------------------

Press [ENTER] to begin

------------------------------

possible crushing of the tip.

3

>

• Jog the tip until it is centered over the
calibration point.

• Press ENTER.

The system adjusts the dispense
program to the recalibrated tip height.

Needle Adjust

------------------------------

Jog tip over calibration point

-----------------------------­[ENTER]

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E Series Automated Dispensing System

Calibrating the Tip Height (continued)

Systems with a Tip Detector

If your system includes the optional tip detector, follow these procedures to calibrate the tip height and to
automatically recalibrate the tip height after a same-to-same dispensing tip change.

Set a Calibration Point (Initial Setup for Auto Needle Adjust)

The system uses Needle Detect Setup for the Automatic Needle Adjust function to recalibrate the tip height after a
same-to-same dispensing tip change.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to NEEDLE DETECT
SETUP.

• Press ENTER.

[SETUP] 2/3
08 Pause Status
09 Auto Purge
10 Pre-cycle Initialize
11 Pre-dispense Wait Time
12 Default Dispense Port
13*Needle Detect Setup
14 Run Limit

2

>

3

4

• Jog the tip to the tip detector and
lower the tip until it is as close to the
crosshairs (cross point) as possible

• Press F1.

The Needle Detect Setup screen
appears.

• Press F1.

The system begins the calibration.

• Press F1 to accept the calibration.

NOTE: Press F2 to cancel the
calibration.

Needle Detect Setup

------------------------------

Jog tip to needle detect

device cross point

-----------------------------­[F1] OK

Needle Detect Setup

------------------------------

Press [F1] to search for

needle position

------------------------------

Needle Detect Setup

------------------------------

Reset position?

------------------------------

[F1] Yes [F2] No

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E Series Automated Dispensing System

Calibrating the Tip Height (continued)

Recalibrate the Tip (Auto Needle Adjust)

PREREQUISITES

 The needle detect position is calibrated. Refer to “Set a Calibration Point (Initial Setup for Auto Needle Adjust)” on

page72.

# Key Press Step Teach Pendant Display

1

> >

• Press F1.

• MOVE UP / DOWN to AUTO NEEDLE
ADJUST.

• Press ENTER.

[PROGRAM MENU] 1/1
01 Teach/Run
02 Program List
03 Reset Counter
04 Program Offset
05 Needle Adjust
06*Auto Needle Adjust

2

3

• Press ENTER.

The system automatically checks the
tip height using the tip detector and
displays the offset updates needed to
calibrate the tip height.

• After the search is complete, press F1 to
accept the calibration.

Auto Needle Adjust

------------------------------

Press [ENTER] to begin

------------------------------

Auto Needle Adjust

------------------------------

Searching for tip...

------------------------------

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E Series Automated Dispensing System

Working with Inputs / Outputs

If you connected inputs/outputs, refer to these procedures as applicable to use the inputs / outputs. There are
several ways to use inputs / outputs:

• As a program command (SET I/O) to enable or disable outputs in a program.

• As a setting change under INITIALIZE OUTPUT.

• As a setting change under PROGRAM OUTPUT STATUS.

NOTE: The last two bullets apply if you want the system to automatically change the behavior of an output.

Enable or Disable an Input / Output

Inputs / outputs can be switched on or off within a program using the SET I/O command. SET I/O is also used to
make the system check the status of an input signal at a specic point in the program.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 The program you want to edit is currently open. Refer to “How to Open and Edit a Program” on page45.

 Input / output wiring is properly connected. Refer to “I/O Port” on page87 for wiring diagrams.

# Key Press Step Teach Pendant Display

1

> >

• Press TYPE.

• MOVE UP / DOWN to SET I/O.

• Press ENTER.

The Set I/O menu appears. Refer to
“21 Set I/O” on page105 for detailed
information on the Set I/O command.

[TYPE] 3/4
15 Dispense Port
16 Call Pattern
17 End Pattern
18 Call Subroutine
19 End Subroutine
20 Call Program
21*Set I/O

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E Series Automated Dispensing System

Automatically Switch Outputs ON

Use Initialize Output under Menu1 to specify which outputs (1–8) switch ON at the beginning of programs.

NOTE: Online signals must be disabled.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to INITIALIZE
OUTPUT

• Press ENTER.

[MENU 1]
01 Group Edit
02 Ex. Step & Repeat
03 Program Name
04 Axis Limit
05*Initialize Output
06 Jog Acceleration
07 Teach Move Z Clearance

2

>

3

• Use the ARROW keys to move through
the outputs.

• Press ENTER to toggle values: 1 for ON,
0 for OFF.

• Press F1 to save or exit.

Initialize Output

-----------------------------­Port: 12345678
Current: 00000000
New: 00000000

[F1] OK

Set How Outputs Behave at the End of a Program

Use Program Output Status under Setup to specify how outputs function after programs end.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

> >

• Press SETUP.

• MOVE UP / DOWN to PROGRAM
OUTPUT STATUS.

• Press ENTER.

[SETUP] 1/3
01 XY Move Speed
02 Z Move Speed
03 Point to Point Arc Jump
04 Park Position
05 Calibration Point
06 Mark Points
07*Program Output Status

2

or >

3

• Press 1 ENABLE to keep outputs ON
after a program ends.

• Press 2 DISABLE (default) to allow
outputs to switch OFF after a program
ends.

• Press F1 to save or exit.

Program Output Status
Disable

-----------------------------­1 Enable
2 Disable
Select: _

[F1] OK

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E Series Automated Dispensing System

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 for Routine Operation

1. Connect the Teach Pendant to the Teach Pendant port on the front of
the robot.

2. Switch on the robot.

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

4. Open the dispensing program. Refer to “How to Open and Edit a
Program” on page45.

NOTE: To run a program by scanning a barcode, refer to “Running a
Program by Scanning a Barcode” below.

5. Properly position the workpiece on the xture plate.

6. Press the START button on the front of the robot.

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

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

NOTE: When the EMERGENCY
STOP button is pressed, the robot
moves to the home position (0, 0, 0).

Teach Pendant port

DISPENSER
PURGE button

START button

Running a Program by Scanning a Barcode

PREREQUISITES

 A barcode scanner is connected to the SVC USB port on the front of the robot.

 The program to be used for barcode scanning has been created and is named.

 A barcode with the program name embedded in it has been generated.

 Barcode scanning is enabled. Refer to “Setting Up Barcode Scanning” on page42.

 The system is in the Run Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

EMERGENCY STOP
button

1. Position the workpiece on the xture plate.

2. Use the barcode reader to scan the barcode for the dispense program to be run.

The system opens and runs the program.

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E Series Automated Dispensing System

Operation (continued)

Pausing During a Dispense Cycle

Press START at any time to pause the system during a dispense cycle; the tip moves to the location specied by
Pause Status or stops at the next program point.

NOTE: If the system is paused during dispensing, the system shuts off the dispenser, compromising pattern
integrity.

Purging the System

To purge the system, press the DISPENSER PURGE button.

NOTE: You can set up the system to purge automatically. Refer to “Auto Purge” on page39.

Shutting Down the System

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

2. Switch off the robot.

Part Numbers

Part # Part # Europe* Description

7360852 7361345 Robot, E2, 200 x 200 x 50 mm (8 x 8 x 2”)

7360853 7361346 Robot, E3, 300 x 300 x 100 mm (12 x 12 x 4”)

7360854 7361347 Robot, E4, 400 x 400 x 100 mm (16 x 16 x 4”)

7360855 7361348 Robot, E5, 500 x 500 x 150 mm (20 x 20 x 6”)

7362101 7362102 Robot, E6, 620 x 500 x 150 mm (24 x 20 x 6”)

*Complies with European safety regulations.

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E Series Automated Dispensing System

Accessories

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

Safety Enclosures

Nordson EFD guarded safety enclosures integrate seamlessly with our complete line of
automated dispensing systems. Featuring external dispensing controls, a safety light curtain,
and an internal electrical control box and wireways for faster, safer setup, these CE-compliant
enclosures also fully comply with EU Machinery Directive 2006/42/EC.

Part # Description Compatible Robot Models

7362738

7362766

7362739

7362767

Pre-Configured Output Cables

Item Part # Description

Small safety enclosure E2, E2V, E3, E3V, R3

Small safety enclosure, Europe E2, E2V, E3, E3V, R3

Large safety enclosure E4, E4V, E5, E5V, R4, PRO4L

Large safety enclosure, Europe E4, E4V, E5, E5V, R4, PRO4L

7360551 Standard cable to connect the dispenser and the robot

Single voltage initiate cable to connect the dispenser and the robot

7360761

7360554

7362573

7360558

7362356

7362357

7362373

n/a 7015086 DB9 female straight serial cable (for RS-232 connection)

n/a 7015476 USB-to-serial converter cable

(provides different pigtails to connect to different dispensers /
controllers)

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

I/O interface cable between the ValveMate™ 8000 and the robot when
the use of all four (4) ValveMate 8000 channels are required

Dual-connector cable to connect up to two PICO® DCON Drivers or two
PICO Toµch™ controllers to the robot

Dual-connector cable to connect up to two Liquidyn® V10 controllers to
the robot

Dual-connector cable to connect up to two Liquidyn V200 controllers to
the robot

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

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E Series Automated Dispensing System

Accessories (continued)

Fixture Plates

All plates include four edge levelers and four leveling mounts.

Part Number 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88 for
schematics.

Part Number Description

7363285 Start / stop accessory box and I/O checker, standard

The I/O checker allows a user / programmer to simulate either (1) input signals
from external devices or (2) outputs from the automation before physically installing
any external devices.

7360865 Start / stop accessory box, European Community

Tip Alignment Kit

Part Number Description

7360892 E Series robot tip alignment accessory kit

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 D, Height Sensor Setup and Use” on page128 to install and use the height sensor.

Part # Description

7361667 Height sensor accessory kit, E / EV Series

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E Series Automated Dispensing System

Accessories (continued)

Mounting Brackets

Item Part Number Description

7360610

7360611

7361815

7360613

7361758

Syringe barrel mounting
bracket

Mounting bracket for
PICO valves

Mounting bracket for
PICO Pµlse™ valves

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

Universal valve
mounting bracket for all
valves without mounting
holes (702, 754, 794,
and 784S-SS Series
valves)

Item Part Number Description

7361757

7360952

7362177

7360796 Equalizer bracket

Mounting bracket for
radial spinner valves

Mounting bracket for the
Ultimus IV dispenser

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

Mounting bracket for

7361114

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xQR41 and 745 Series
valves

E Series Automated Dispensing System

Troubleshooting

Teach Pendant Error Messages

When a programming error occurs, the Teach Pendant display shows the address number where the error occurs
and the error message. Refer to the following table to troubleshoot Teach Pendant error messages.

Addr. 1
Over Call Program Stack !

[OK] F1

Error Message Cause Corrective Action

Over Call Program Stack System cannot call the current program Call another program number.

Error Fill Command Line Start and Line End points after a Fill

command are on the same coordinate

Can’t Use Call Pattern Call Program command used and the

program called for execution includes
a Call Pattern command (the software
does not allow this)

Can’t Find Fill End Point Line End command missing after a Fill

command

Label Not Found System cannot nd the label number

specied in a Goto (Label) command

Need Line Start Line Start command missing before a

Line Passing, Arc Point, or Line End
command

Need Line End Line End command missing after a

Line Start, Line Passing, or Arc Point
command

Setup Error End Program command entered after a

Line Start command

Mark Point Must Separate Mark Points 1 and 2 are the same

coordinate

Illegal Path Point Line Start, Arc Point, and Line End

coordinates are in a straight line

Destination Address Error Destination for a Group Edit > Move

command already contains a command

Address number where error occurs
Error message

Press F1 to clear the error message, then correct
the cause of the error

Correct the Line Start and Line End
coordinates that occur after the Fill
command.

Create a new program that does not
include a Call Pattern command.

Ensure that a Line End command is
inserted after a ll command.

Check the Label commands in the
program. Use MENU2 > Jump to search
for the missing label.

If the label number does not exist, the
system displays this error message.
Correct the programming problem.

Enter a Line Start command before a
Line Passing, Arc Point, or Line End
command.

Enter a Line End command after a
Line Start, Line Passing, or Arc Point
command.

Correct the programming error. An End
Program command can be entered only
when the previous lines of programming
are logical.

Ensure that Mark Points 1 and 2 are
different coordinates.

Correct the Arc Point coordinate so that
the dispense pattern is an arc instead of
a straight line.

Ensure that the destination address to
which address lines are being moved is
empty.

Continued on next page

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E Series Automated Dispensing System

Teach Pendant Error Messages (continued)

Error Message Cause Corrective Action

Address Not Empty Command entered for an address which

is not empty

If it is okay to replace the existing
command with a new command, press
F1 to continue; otherwise, move to the
next empty address line.

Password Conrm Fail Conrmation password not the same as

a newly entered password

Enter the conrmation password again,
ensuring that it exactly matches the
newly entered password.

Password Error Incorrect password entered for a locked

Enter the correct password.

program

Diagnostic Checks (Diagnostic Menu)

You can easily test the functionality of the major system components using the Diagnostic Menu.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

# Key Press Step Teach Pendant Display

1

• Press MENU1.

• MOVE UP / DOWN to DIAGNOSTIC.

[MENU 1] 2/2
08 Utility Menu
09*Diagnostic

• Press ENTER.

> >

2

> >

3

> >

The DIAGNOSTIC menu appears.

• Select the diagnostic test to perform.

• When the test is complete, press ESC to
return to the DIAGNOSTIC menu.

NOTE: For reference, each test is
described in the following steps.

• Select HOME SENSOR to test the axis
sensors.

• Slowly move the robot xture plate and
then the Z axis by hand.

- If an axis is functioning properly, the

[DIAGNOSTIC] 1/1
01 Home Sensor
02 Front Panel
03 Input/Output
04 Teach Pad
05 RS232
06 Motor

Home Sensor
Move robot axis by hand

-----------------------------­X: 0
Y: 0
Z: 0

displayed value for the axis changes
from 0 to 1.

• Press ESC to return to the Diagnostic
menu.

Continued on next page

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E Series Automated Dispensing System

Diagnostic Checks (Diagnostic Menu) (continued)

# Key Press Step Teach Pendant Display

4

> >

5

> >

6

> >

7

> >

8

> >

• Select FRONT PANEL to test the front
panel buttons.

• Press each front panel button one at a
time.

- If a button is functioning properly, the
displayed value for the axis changes
from 0 to 1.

• Press ESC to return to the Diagnostic
menu.

• Select INPUT/OUTPUT to test any
connected inputs or outputs.

- If an input / output is functioning
properly, the displayed value for the
input / output changes from 0 to 1.

- Refer to “I/O Port” on page87 for
the IO PORT schematic.

• Press ESC to return to the Diagnostic
menu.

• Select TEACH PAD to test the Teach
Pendant keys.

• Press each TP key one at a time.

- If a key is functioning properly, the
displayed value for SCANCODE
changes from 0 to 1.

• Press ESC to return to the Diagnostic
menu.

• Select RS232 to test the RS232
connection.

• Connect a DB9 with pins 2 and 3
shorted into the RS232 port on the back
of the robot.

- If the connection is functioning
properly, the system recognizes the
data being sent and received.

• Press ESC to return to the Diagnostic
menu.

• Select MOTOR to test the robot motor.

• Press the corresponding number key to
test the motor axis.

- If the axis motor is working, a slight
back and forth movement (~10 mm)
of the axis occurs.

• Press and hold ESC until the axis
movement stops and to return to the
Diagnostic menu.

Front Panel
Press front panel buttons

-----------------------------­Start Button : 0
Purge Button : 0
Emergency Stop: 0
Needle Sensor : 0

Input/Output

------------------------------

IN : 00000000
OUT: 000000000

Press Key 1-8 Set Output
Press Key 9 Set Dispenser

Teach Pad
Press key on teach pad

-----------------------------­SCANCODE: 0

RS232
Cross RS232 Pin2 & Pin3

-----------------------------­Send Char :00

!!! NO RESPONSE !!!

Motor
Axis moves back & forth 10 mm

-----------------------------­1 X
2 Y
3 Z
0 Home

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E Series Automated Dispensing System

Restoring the System to the Factory Default Settings (Clear Memory)

Follow this procedure to erase all programs and return all settings to the factory default values.

PREREQUISITES

 The system is in the Teach Mode. Refer to “How to Switch from Run Mode to Teach Mode” on page44.

 All programs have been backed up using the SAVE ALL PROGRAMS command under the USB menu. Refer to

“How to Upload / Download Programs Using the SVC USB Port” on page57.

# Key Press Step Teach Pendant Display

1

> >

• Press MENU1.

• MOVE UP / DOWN to UTILITY MENU.

• Press ENTER.

[MENU 1] 2/2
08*Utility Menu
09 Diagnostic

2

>

3

>

4

(9x) >

• MOVE UP / DOWN to MEMORY.

• Press ENTER.

• Press 1 CLEAR MEMORY.

• Press F1.

• Enter the clear memory password
(99999999).

• Press F1 to clear the memory.

The system clears the memory. It does
not ask for additional conrmation.

[UTILITY] 1/1
01 Program
02*Memory
03 Key Beep
04 Online Signals
05 Barcode Scanner
06 System Lockout

Memory Utility

-----------------------------­1 Clear Memory
2 Tool Offset
Select: _

[F1] OK

Clear Memory

WARNING!
This will erase all data from
all program numbers.

Password: _
[F1] OK

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Technical Data

Dimensions

E Series Automated Dispensing System

A

B

C

Dimension E2 E3 E4 E5 E6

A (width) 370 mm (15") 490 mm (19") 590 mm (23") 690 mm (27") 808 mm (32")

B (height) 510 mm (20") 644 mm (25") 644 mm (25") 814 mm (32") 812 mm (32")

C (depth) 414 mm (16") 519 mm (20") 617 mm (24") 718 mm (28") 718 mm (28")

Mounting Hole Template

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

A

B

4 x M5 tapped holes

Dimension E2 E3 E4 E5 E6

A

B

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")

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E Series Automated Dispensing System

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

Pin 1

Pin 3

Pin 2

1 3

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 “Accessories”
on page78 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

1

7

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E Series Automated Dispensing System

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

RS232 Port (for Remote Communication)

NOTE: Refer to “Appendix B, RS-232 Communication

Protocol” on page113 to set up remote communication.

Pin Description Pin Description

1 N/C 6 N/C

2 RX 7 N/C

3 TX 8 N/C

4 N/C 9 N/C

5 GND

1 5

6 9

+24V

Output X

Pin 13

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E Series Automated Dispensing System

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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Pin 2

Start signal

Pin 1

Ground

Pin 6
Emergency

stop

Pin 7
Emergency

stop

SW1

ESTOP

E Series Automated Dispensing System

Appendix A, Type Menu Reference

This appendix provides detailed information for each setup and dispense command under the Type menu.
Commands are listed in the same numerical order as they are in the Type menu.

The following rules apply to all commands:

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

• Command settings override system settings.

01 Dispense Dot

Dispense Dot 1/3

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Dispense Dot 3/3

-----------------------------­Retract Distance: 100.00 mm
Retract Low: 10.0 mm/s
Retract High: 10.0 mm/s

[F1] OK [F2] Next

Key Press Function

Registers the current XYZ location as a Dispense Dot point.

>

Parameter Description

Dispense Time Duration the dispenser signal is initiated ON.

Dwell Time The delay time that occurs at the end of dispensing to allow the pressure to equalize

Retract Distance The distance the tip raises after dispensing.

Retract Low The speed at which the tip raises after dispensing.

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

Dispense Dot 2/3

-----------------------------­Dispense Time: 0.100 s
Dwell Time: 0.00 s

[F1] OK [F2] Next

Range: 0.001–1000.0 (s)

before the tip moves to the next point.
Range: 0.01–1000.0 (s)

Range: 0–200 (mm/s)

by Retract Low, the tip continues raising to the ZClearance at the speed (in mm/s)
specied by this setting. The purpose of specifying a ZClearance is to allow the tip to
raise high enough to clear any obstacles it encounters on its way to the next point. Refer
to “13ZClearance” on page101.
Range: 30–200 (mm/s)

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E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

02 Line Start

Line Start 1/2

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Key Press Function

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

>

Parameter Description

Line Speed The speed at which the dispensing tip travels at the location in the program where this

Pre-move Delay The time the dispenser stays open at the start of a line before moving. This delay time

Settling Distance The distance the robot moves from the beginning of a Line Start before the dispenser

Dispenser Off (0)/
On(1)

03 Line Passing

Line Start 2/2

-----------------------------­Line Speed: 10.0 mm/s
Pre-move Delay: 0.00 s
Settling Distance: 0.00 mm
Dispenser Off(0)/On(1): 1

[F1] OK [F2] Next

command is inserted, thus overriding the default line speed setting.
Range: 0–500 (mm/s)

prevents the tip from moving along the line until uid is owing.
Range: 0–100 (s)

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.
Range: 0–100 (mm)

Turns the dispenser OFF (0) or ON (1) at the current address.

Line Passing 1/2

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Key Press 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 on a rectangle.
NOTE: Also use a Line Passing point before and after an Arc Point command.

Parameter Description

Line Speed The speed at which the dispensing tip travels at the location in the program where this

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

Dispenser Off(0)/
On(1)

Line Passing 2/2

-----------------------------­Line Speed: 10.0 mm/s
Node Time: 0.001 s
Dispenser Off(0)/On(1): 1

[F1] OK [F2] Next

command is inserted, thus overriding the default system line speed setting.
Range: 0–500 (mm/s)

through the Line Passing point and waits at the Line Passing point, with the dispenser
activated, for the specied time period.
Range: 0–100 (s)

Turns the dispenser OFF (0) or ON (1) at the current address.

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E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

04 Arc Point

Arc Point

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F3] Current

Key Press Function

Registers the current XYZ location as an Arc Point. Arc points dispense material along an arc or circular

>

05 Line End

path.

Line End 1/4

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Line End 3/4

-----------------------------­Backtrack Length: 0.00 mm
Backtrack Gap: 0.00 mm
Backtrack Speed: 10.0 mm/s
Type 0| 1\ 2] 3/ 4[: 0

[F1] OK [F2] Next

Key Press Function

Registers the current XYZ location as a Line End point

>

Parameter Description

Shutoff Distance The distance before the end of a line when the dispenser closes to prevent excess uid

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

Dwell Time The delay time that occurs at the end of a line after the dispenser turns off. This allows

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

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

Backtrack Speed The speed of the dispensing tip backtrack movement.

Line End 2/4

-----------------------------­Shutoff Distance: 0.00 mm
Shutoff Delay: 0.00 s
Dwell Time: 0.00 s

[F1] OK [F2] Next

from being deposited at the end of the line, as shown in the illustration below.
Range: 0–100 (s)

Range: 0–100 (s)

the pressure to equalize before the tip moves to the next point.
Range: 0–1000 (s)

Range: 0–100 (mm)

value must be less than the ZClearance value for that point.
Range: 0–100 (mm)

Range: 0.1–200 (mm/s)

Continued on next page

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E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

05 Line End (continued)

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

Shutoff Distance

Illustration of the Shutoff Distance parameter

Line End 3/4

-----------------------------­Backtrack Length: 0.00 mm
Backtrack Gap: 0.00 mm
Backtrack Speed: 10.0 mm/s
Type 0| 1\ 2] 3/ 4[: 0

[F1] OK [F2] Next

Key Press Function

See previous page.

>

Parameter Description

Type Refer to “Example Illustrations of Backtrack Setup Parameters” on page93.

Retract Distance The distance the tip raises after dispensing.

Retract Low The speed at which the tip raises after dispensing.

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

Line End 4/4

-----------------------------­Retract Distance: 0.00 mm
Retract Low: 20.0 mm/s
Retract High: 80.0 mm/s

[F1] OK [F2] Next

0 (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 at the distance and

height entered for Backtrack Length and Backtrack Gap.

Range: 0–50 (mm)

Range: 0–200 (mm/s)

by Retract Low, the tip continues raising to the ZClearance at the speed specied by
this setting. The purpose of specifying a ZClearance is to allow the tip to raise high
enough to clear any obstacles it encounters on the way to the next point. Refer to
“13ZClearance” on page101.
Range: 30–200 (mm/s)

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E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

Example Illustrations of Backtrack Setup Parameters

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

Length

Backtrack Gap

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E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

06 Circle

Circle

------------------------------

[F1] 3-Point [F2] Center Point

------------------------------

Circle 2/5

-----------------------------­Circle Speed: 10.0 mm/s
Diameter: 0.00 mm
Start Angle: 0.0 deg
End Angle: 360.0 deg

[F1] OK [F2] Next

Key Press Function

Registers a circle. Circles are created by selecting three points on the circle diameter or by entering a center

>

point for the circle (refer to “How to Make a Circle” on page65).

Parameter Description

Circle Speed The speed at which the dispensing tip travels when making the circle, thus overriding

Diameter The diameter of the circle.

Start Angle The angle (in degrees) from the center of the circle where dispensing for the start of the

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

Pre-move Delay The time the dispenser stays open at the start of a circle before moving. This delay time

Settling Distance The distance the robot moves from the beginning of a circle before the dispenser turns

Shutoff Distance The distance before the end of a circle when the dispenser closes to prevent excess

Shutoff Delay The time the dispenser stays open after it stops at the end of a circle.

Dwell Time The delay time that occurs at the end of a circle after the dispenser closes. This allows

Circle 1/5

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F2] Next [F3] Current

Circle 3/5

-----------------------------­Pre-move Delay: 0.00 s
Settling Distance: 0.00 mm
Shutoff Distance: 0.00 mm
Shutoff Delay: 0.00 s
Dwell Time: 0.00 s
[F1] OK [F2] Next

the default system move speed setting.
Range: 0.1–400 (mm/s)

Range: 0.01–400 (mm)

circle begins. The default setting (0 degrees) equates to the 3:00 position.
Default: 0 (degrees)
Range: 0 to ±360 (degrees)

Default: 0 (degrees)
Range: 0–10000 (degrees)

• To dispense in a counterclockwise direction, enter a positive value.

• To dispense in a clockwise direction, enter a negative value.

prevents the tip from moving along the circle until uid is owing.
Range: 0–100 (s)

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 circle.
Range: 0–100 (mm)

uid from being deposited at the end of the circle.
Range: 0–100 (mm)

Range: 0–100 (s)

the pressure to equalize before the tip moves to the next point.
Range: 0–1000 (s)

Continued on next page

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E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

06 Circle (continued)

Start Angle (0 degrees) = 3:00

The 0 (degrees) default setting for Start Angle is at 3:00

Circle 4/5

-----------------------------­Backtrack Length: 0.00 mm
Backtrack Gap: 0.00 mm
Backtrack Speed: 10.0 mm/s
Type 0| 1\ 2] 3/ 4[: 0

[F1] OK [F2] Next

Key Press Function

See previous page.

>

Parameter Description

Backtrack Length The distance the dispensing tip travels away from the circle end point.

Backtrack Gap The distance the dispensing tip raises as it moves away from the circle end point. This

Backtrack Speed The speed of the dispensing tip backtrack movement.

Type Refer to “Example Illustrations of Backtrack Setup Parameters” on page93.

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

Retract Low The speed at which the tip raises after dispensing.

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

Circle 5/5

-----------------------------­Retract Distance: 0.00 mm
Retract Low: 10.0 mm/s
Retract High: 80.0 mm/s

[F1] OK [F2] Next

Range: 0–100 (mm)

value must be less than the ZClearance value for that point.
Range: 0–100 (mm)

Range: 0–200 (mm/s)

0 (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 at the distance and

height entered for Backtrack Length and Backtrack Gap.

Range: 0–50 (mm)

Range: 0–200 (mm/s)

Retract Low, the tip continues raising to the ZClearance at the speed specied by this
setting. The purpose of specifying a ZClearance is to allow the tip to raise high enough
to clear any obstacles it encounters on the way to the next point.
Range: 30–200 (mm/s)

95www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

07 End Program

Key Press Function

Registers the current address as the end of the program. End Program returns the dispensing tip to the

>

08 Spline Node

Spline Node

-----------------------------­X: 130.93 mm
Y: 37.39 mm
Z: 45.54 mm

[F1] OK [F3] Current

Key Press Function

>

home position or to the Park Position. This command must occur at the end of a dispense program.

Changes the path the tip makes as it moves between two points. Enter a Spline Node point to make
the tip move through the spline node point as it moves from one point to another. This is useful for
avoiding an obstacle on a workpiece.

Dispense

Dot A

Dispense

Dot B

Spline node point: the tip passes
through this point as it moves from
Dispense Dot A to Dispense Dot B

09 Spline Move Speed

Spline Move Speed

-----------------------------­Speed: 80.0 mm/s

[F1] OK

Key Press Function

The speed at which the dispensing tip travels when it moves through a Spline Node point.

>

Range: 0.1–500 (mm/s)

96 www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

10 Label

Label

-----------------------------­Label: 2

[F1] OK

Key Press Function

Registers a numeric label that can be used as a reference in the Goto (Label), Loop, Step & Repeat, Call

>

11 Goto

Goto

-----------------------------­Label: 2

Pattern, Call Subroutine, and Call Program commands.

• The number of labels allowed in a program is 1–9999.

[F1] OK

Key Press Function

The program jumps to the address line in the program that contains the specied label.

>

97www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

12 Step & Repeat 2D

Step & Repeat

------------------------------

[F1] Step & Repeat 2D
[F2] Step & Repeat 3D

------------------------------

Step & Repeat 2D 2/2

-----------------------------­Column (X): 1
Row (Y): 1
Path S(1)/N(2): 1
Goto Label: 1

[F1] OK [F2] Next

Key Press Function

Enables the repeat of the dispensing pattern onto many identical workpieces that are mounted on a xture

>

plate and aligned in rows and columns.

Parameter Description (refer to the diagram below and to “Example Illustrations of Step &

Direction The direction the tip moves along the XY axes. Select X(1) to give priority to the X axis or

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.

Path S(1)/N(2) The path of pattern travel. Select 1 for an S-shaped pattern or 2 for an N-shaped

Goto Label The address where the Step & Repeat X command begins.

Step & Repeat 2D 1/2

-----------------------------­Direction X(1)/Y(2): 1
X Offset: 1.00 mm
Y Offset: 1.00 mm

[F1] OK [F2] Next

Repeat Parameters” on page99)

Y(2) to give priority to the Y axis.

Range: 0.1–100 (mm)

Range: 0.1–100 (mm)

Range: 1–9999

Range: 1–9999

pattern.

Column (X)

Row (Y)

X Offset
(in mm)

Y Offset

(in mm)

Diagram of the Step & Repeat 2D X Offset, Y Offset, Columns (X), and Rows (Y) Parameters

98 www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

12 Step & Repeat (continued)

Example Illustrations of Step & Repeat Parameters

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

Difference between the X and Y axis Direction parameter

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

Difference between the S and N paths when the Direction is X

Step & Repeat Y, S Path Step & Repeat Y, N Path

Difference between the S and N paths when the Direction is Y

99www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.

E Series Automated Dispensing System

Appendix A, Type Menu Reference (continued)

12 Step & Repeat 3D

Step & Repeat

------------------------------

[F1] Step & Repeat 2D
[F2] Step & Repeat 3D

------------------------------

Step & Repeat 3D 2/2

-----------------------------­Column (X): 1
Row (Y): 1
Tier (Z): 1
Path S(1)/N(2): 1
Goto Label: 1
[F1] OK [F2] Next

Key Press Function

Enables the repeat of the dispensing pattern onto many identical workpieces that are mounted on a xture

>

plate and aligned in rows and columns.

Parameter Description (refer to the diagram below and to “Example Illustrations of Step &

Direction The direction the tip moves along the XY axes. Select X(1) to give priority to the X axis or

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.

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

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

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

Tier (Z) The number of tiers in the Z direction:

Path S(1)/N(2) The path of pattern travel. Select 1 for an S-shaped pattern or 2 for an N-shaped

Goto Label The address where the Step & Repeat X command begins.

Step & Repeat 3D 1/2

-----------------------------­Direction X(1)/Y(2): 1
X Offset: 1.00 mm
Y Offset: 1.00 mm
Z Offset: 1.00 mm

[F1] OK [F2] Next

Repeat Parameters” on page99)

Y(2) to give priority to the Y axis.

Range: 0.1–100 (mm)

Range: 0.1–100 (mm)

Range: 0.1–100 (mm)

Range: 1–9999

Range: 1–9999

• A positive Z value moves the tip down towards the work surface.

• A negative Z value moves the tip up away from the work surface.

Range: 1–9999

pattern.

Column (X)

Tier (Z)

Row (Y)

X Offset
(in mm)

Z Offset
(in mm)

Y Offset (in mm)

Diagram of the Step & Repeat 3D X Offset, Y Offset, Columns (X), Rows (Y), and Tier (Z) Parameters

100 www.nordsonefd.com [e-mail] 800-556-3484 Sales and service of Nordson EFD dispensing systems are available worldwide.