User guide

Appendix A - Instruction Quick Reference A-3
Tab Button Instruction Description
Terminate
Program
Ends program with error (returns False to Robot
Controller). Can be used to stop program. If this
instruction is executed during production, production
will be stopped with a "Coating program had error"
message.
General
(Continued)
Add Fault
Use this instruction to add a clearable fault message
to the operator display. This instruction is typically
used in user-created error handling procedures,
which have no pre-programmed fault messages. The
message will appear in the Event Monitor and Fault
Monitor.
Move Relative
Moves the tool the specified X, Y, and Z distances
from current position.
Move Tool Moves a specified tool to a specified position.
Set Velocity
Sets the velocity for move instructions. Overrides the
ECW.INI file settings.
Set
Acceleration
Sets the acceleration for move and coating
instructions. Overrides the ECW.INI file settings.
Find Home
Causes the robot to perform a Find Home operation,
and leaves the robot at the Home position.
Set Outputs Sets digital outputs.
Rotate Home
Rotates the tool to its origin. Only supported by
Select Coat 4 or 5-axis dispenser.
Rotate Tool
Rotates the tool in 90-degree increments. Only
supported by the Select Coat 4 or 5-axis dispenser.
Motion
Tilt Tool
Tilts the tool from 0 to 30 degrees. Only supported by
Select Coat 5-axis dispenser.
Find Needle
Updates the needle offsets. This command is
normally done after a needle change so ECXP can
learn the position of the new needle.
Needle Finder
Check Needle
Checks if a needle has moved. This could be in a
periodic procedure to detect collisions with out-of-
place components or improperly loaded boards.
Send ACL Sends an ACL command to the Robot Controller.
A201 Robot
Position Verify
Sends the robot back to the home position to check
its position against the limit switches. If the limit
switches are not in the expected position, the error
procedure named in the instruction property is
executed. If no error procedure is specified, or the
error procedure cannot be found, production is
stopped and an error message is displayed. Errors
are logged, along with the axis that failed. Use this
instruction to ensure precision dispensing, by
inserting it into a periodic procedure or at the end of
a product program.