AIM ROBOTICS SD30-55 Air Less Syringe Dispenser User Manual

AIM ROBOTICS SD30-55 Air Less Syringe Dispenser

THE INFORMATION CONTAINED HEREIN IS THE PROPERTY OF AIM ROBOTICS APS AND SHALL NOT BE REPRODUCED IN WHOLE OR IN PART WITHOUT PRIOR WRITTEN APPROVAL BY AIM ROBOTICS APS. THE INFORMATION IS SUBJECT TO CHANGES WITHOUT NOTICE AND SHOULD NOT BE CONSTRUED AS A COMMITMENT BY AIM ROBOTICS APS. THIS MANUAL WILL BE PERIODICALLY REVIEWED AND REVISED.AIM ROBOTICS APS ASSUME NO RESPONSIBILITY FOR ANY ERRORS OR OMISSIONS IN THIS DOCUMENT. COPYRIGHT (C) 2020-2021 BY AIM ROBOTICS APS.

TECHNICAL DATA

FEATURES

• Easy installation
• Recommended for 30 – 55 cc syringes
• Volumetric dispensing
• Full dispensing control through URCap
• Mechanical interface: ISO 9409-1, type 50-4-M6
• Electrical interface: 8-pole M8
• Digital interfaces: URCap, PolyScope ≥5.5
• URCap, API ≥1.8
• RS485
• 24V I/O
• Weight (without syringe): 0.7kg
• Dimensions: 65 x 130 x 265mm

INSTALLATION

1. Attach to robot
2. Load syringe
3. Attach tip
   • Attach unit to robot with 4 screws
   • Plug in the 8 pin connector
   • Ensure plunger is fully retracted.(The plunger automatically retracts when power is on)
   • Twist syringe onto mounts and adjust mount fit if necessary.
   • Attach selected tip Prime unit by clicking
   • “Prime” button in Toolbar (page 8)

LED indicator (D)
The unit has a LED indicator. When the unit has power and is in an idle state a steady green light is lit. During Retract and/or an error state, the LED will turn red.

The 8 pin connector lead

• Ensure Tool IO voltage is set to ‘zero’ or the robot is off before attaching tool. Refer to the ‘How to’ page for guidance.
• If the robot shows an error after attaching the tool – restart the robot to reset.
• Position the lead from the unit to the robot so that it does not create a risk. The pin can be inserted for orientation.

SOFTWARE CONFIGURATION

Install URCap
If password protected:

• Enter Manual Mode: Press and select manual
• Enter Password

If not protected by password:

• Press and select Settings > System > URCaps and select Settings > System > URCaps
• symbol to add a new URCap: Navigate to a USB device and select Aim URCap
• Accept when the robot prompts to restart before continuing.

Payload and TCP
Select the Installation tab for Payload select General > TCP: Payload and Centre of Gravity and press the wizard buttonTo define Tool Centre Point, TCP select General > TCP: Tool Center Point and press the wizard button

Multiple URCaps

• If multiple URCaps are installed the tool might not perform as intended.
• Some tools are programmed to take over and control the Tool IO and will not allow the Aim URCap to change the Tool IO.
• It is recommended to remove all other tool URCaps to avoid this OR ensure that Tool IO is controlled by the user and input manually entered as described in point 3. Installation of SD unit.
• If multiple URCaps are required, please use our Aim USB2RS485 kit.

SOFTWARE CONFIGURATION

The Tool IO can be controlled by the Aim URCap

• Select the Installation tab and select General > Tool IO
• In the IO interface control section use pull down menu to select Aim URCap

The Tool IO can be controlled by the user and manually entered

• In the IO interface control section use pull down menu to select User
• Change Tool Output Voltage to 24

You are now ready to start programming your unit to start dispensing.

INSTALLATION

• Activate Purge Cycle: Disabled by default allows to purge material when in purge point. Useful to ensure the material does not cure in the needle when idle.
• Purge Speed: Dispensing Speed in microliters when purging
• Purging Duration: Time in seconds to dispense at Purge Speed
• Set Purge Pos.: Used for defining the Purge position/Point in space
• Move to Purge Pos.: AUTO drive robot to the Purge Position.
• Tool Connection Status: Green or Red circle indicating tool connection status. Green = connection between robot and tool is stable. Red = robot to tool connection is bad.
• Scan for tool: Actively checks Tool Connection Status once clicked.
• Disable/Enable URCap: This allows for simple reset or disabling of Aim URCap. Useful when troubleshooting or switching between tool manufacturers.
• Enable USB/Disable USB: used when 8-pin M8 tool connection is used by another manufacturer’s tool, and SD is connected to the robot control
• box using Aim USB2RS485 connection kit. Allows combining Aim Robotics tools with other manufacturer tools. OnRobot Eyes or Robotiq Grippers for instance.
• Pause Program on Empty Syringe: Enabled by default. Pauses robot program when the syringe is empty
• Get Notification On Empty Syringe: Enabled by default. Notifies user via Pop-up when the syringe is empty.
• Enable Execution Count Check-up: Shows approximate amount of program cycles current syringe level can do until empty.
• Guided setup for calibrating an installed syringe size and determining Calibrated syringe value.
• Requires an empty syringe with a piston installed on the SD30/55.

PROGRAMMING

• Syringe attached: choose between 30cc and 55cc syringe
• Piston Speed: move the slider on a % scale
• Piston Down: moves Piston down with Piston Speed
• Piston Up: moves Piston up with Piston Speed
• Move Home: homes the piston – drives all the way up and resets the home position Purge Pos. Status: shows if the robot is at a purge position.
• Red = not in purge position. Green = in purge position.
• Move to Pose: drives robot to Purge position.
• Auto Prime: primes the syringe by moving the plunger down until piston/plunger contact is reached. For low viscosity materials with large nozzles, it might be required to temporarily block the needle. It is expected to over-dispense for the first path after priming a new syringe, this is due to a Pre-feed value set. It is recommended to do a test bead after each syringe change. This ensures perfect and repeatable dispensing afterward.
• Run with Dispensing: Disabled by default allows to run the path without dispensing. When enabled, run the path with dispensing.
• Auto TCP speed: Uses robot TCP speed and a multiplier to set dispensing speed. This ensures constant dispensing amount in corners.
• Recommended using with robot speeds under 25mm/s for most fluids.
• Set syringe size: Choose the size of your syringe. Pre-defined 30cc and 55cc values are set to work with most syringe manufacturers. If there is still material left in the syringe after “Syringe Empty” warning, please use the Calibration tool in installation and choose Calibrated option in the Dispense node.
• Dispense Speed(μL): Set’s dispensing speed in μL/sec (microliters per second). 15-25μL is a good starting point for most fluids.
• Prefeed (steps): the amount of steps stepper motor executes at start of dispense node. This is very useful for pressurizing material to correct pressure for dispensing at set Dispense Speed. Often matches the Pullback (steps). Low viscosity 50-100 steps, medium to high viscosity: 200-500 steps.
• Pullback (steps): the number of steps the stepper motor executes at the end of the dispensing node. Allows releasing pressure exerted on the piston to stop material flow. Often matches the Prefeed (steps). Low viscosity 50-100 steps, medium to high viscosity:200-500 steps.
• Pause robot on Prefeed(s): allows to pause robot movement for chosen seconds while executing prefeed steps. Useful when the material requires a lot of prefeed in order to reach desired flow rate.
• Pause robot on Pullback(s): allows to pause robot movement for chosen seconds, while executing pullback steps. Useful when finding perfect bead stop settings. Wait on Prefeed/ Wait on Pullback checkboxes: stops robot movement until Prefeed/Pullback steps are executed. This is used in most cases with low viscosity materials, if more control is required, use the Pause robot on Prefeed(s) and Pause robot on Pullback(s) fields.

Programming CIRCLES

• To program circles to select the button.
• In the Program tree, the Set Circle move has been inserted.
• Enter Circle Radius and select Center Point to define the center of the circle. After entering the Robot speed and Robot Acceleration press Move to start. This will be the point where the robots start dispensing the circle. Consider the run-up to this point when programming.

Programming WAVES

• To program waves select the button.
• In the Program tree, the Set Wave move has been inserted.
• Enter Wave Count (amount of waves between the start and endpoint)
• Enter Wave Width
• Press Add Start-End to select the start and end point of the line for the wave to follow The wave curve is also dependant on the movements of the robot.

Tips and Tricks

Start/End Waypoints: Dispensing starts when the robot program is within Dispense Node and stops upon exit of Dispense Node. Therefore it is advised that the waypoint set right before entering the Dispense node is identical to the first waypoint in the Dispense node. As well as the last waypoint in Dispense Node should match the first waypoint after Dispense Node like illustrated below:

• Determining perfect dispensing speed: It is recommended to program a simple line bead for determining the perfect dispensing speed for a material/needle and robot speed combination. The prefeed and pullback values should be set at 0. Determining perfect pull-back/prefeed settings:
• Monitor the end of your test bead and increase pull-back and pre-feed steps count incrementally (normally in 50 step increments) until you see a perfect bead-end with no material oozing).
• Next, adjust Prefeed pause settings until you see a perfect start of the bead (no snails/tails)
• If any stringing of material is seen, adjust the program to do a move with a slight Z height increase in the backward direction of the path.
• Empty Syringe: When the end of the syringe (30cc or 55cc) is reached the robot program will be paused and a pop-up with instructions will be shown.
• Please wait for the plunger to fully retract before removing or installing a syringe!

SAFETY

Control path of tip
As the units can be used with nozzles care should be taken when defining the movement for the robot ensuring the tip does not cause incidents.

• Define the path to and from the dispensing path
• Define the path to and from the purge point

Sharp objects
The tool can be equipped with nozzles and needles to dispense as desired.Caution should be taken when using these attachments because they can puncture your skin.

Limitations
It is recommended to set robot limitations in Installation > Safety > Robot Limits: reduce limits to ensure greater safety so that the robot will stop dispensing if it exceeds these limits.

• Tool Speed / Elbow Speed: In the safety, settings consider changing speeds to ensure only full speed when dispensing and reduced speed when away from the path to avoid needle injuries.
• Tool Force / Elbow Force: Limit the maximum force exerted by the tool or elbow on the environment.

WARNING

• Any change to the unit or in-correct assemblies, such as removing o-rings or not screwing the unit on correctly, may lead to accidents, failures, or leaks. Ensure that the orifice of the tip is suitable for the fluid to avoid pressure build-up.
• The electronics box must not be opened or the warranty will be void.

TROUBLESHOOTING

The unit does not turn on (no green or red LED)

• Check Electrical connections
• Make Sure Tool I/O tool power output is set to 24V or if using  USB2RS485 the Digital I/O is set high.
• Restart

Tool makes buzzing sound upon startup

• Check if the plunger is homed.
• Restart tool.

Tool skips steps/buzzes when dispensing

• Check tip for clogs.
• Dispensing speed for the material/needle combo is set too high or pre-feed is set too high.
• Home Plunger, reduce prefeed or dispensing speed, prime, and try again.

The syringe is not empty / Auto retract happens before syringe is empty
If the syringe plunger is not fully pushed to the end when the unit Auto Retracts

• Check syringe size
• Ensure that the correct syringe size was selected in the Aim Node
• Go through the syringe calibration process and calibrate the specific syringe model.

Tool Status is red, tool is on and is loosing communication

• Remove all other URCaps
• Some manufacturer URCaps interfere with Tool I/O Communication even if their tool is not installed and nodes are not used.
• Purchase Aim USB2RS485 kit to allow for multiple manufacturer tool use on a single robot at the same time.
• SD30/55 + OnRobot Eyes for example.

CERTIFICATION

References

• Automated Robotic Dispensing Systems - Aim Robotics
• ROBOTICS.COM

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