Nordson I/O Map for Fanuc Robots

NOTES:
1) The Nordson PCI controller consumes 8 bytes / produces 8 bytes of data. Refer to EDS file "Nordson.eds"
2) The Nordson PCI controller default node address is 10, default baud rate is 500 kB. Both values are adjustable via service menu.

PCI INPUTS / ROBOT OUTPUTS PCI OUTPUTS / ROBOT INPUTS

Bit Number Bit Number
Description Description
BYTE 0 Part ID Bit 1 1 BYTE 0 Dispense Ready 1
Part ID Bit 2 2 Dispense In Process 2 For ProMeterS and 2K apps, this is the AND of Dispense in Proce
Part ID Bit 3 3 Volume OK 3
Part ID Bit 4 4 Major Fault 4
Part ID Bit 5 5 Minor Fault 5
Part ID Bit 6 6 Remote Start In Process 6
Part ID Bit 7 7 Auto Mode 7
Part ID Bit 8 8 Manual Mode 8

BYTE 1 9 BYTE 1 9
Part Strobe 10 10
Dispense On 11 11
12 12
13 13
14 14
15 15
16 16

BYTE 2 Dispense Complete 17 BYTE 2 17

Remote Start 18 18
19 19
20 20
21 21
22 22
23 23
24 Purge Request 24 2K only
BYTE 3 35 BYTE 3 Purge In Process 25
26 26
27 27
28 28
29 29
Base Only Purge??? 30 30
Clear to AutoPurge 31 31
Purge 32 32

BYTE 4 Matl Flow Rate Bit 1 33 BYTE 4 33

Matl Flow Rate Bit 2 34 34
Matl Flow Rate Bit 3 35 35
Matl Flow Rate Bit 4 36 36
Matl Flow Rate Bit 5 37 37
Matl Flow Rate Bit 6 38 38
Matl Flow Rate Bit 7 39 39
Matl Flow Rate Bit 8 40 40

BYTE 5 Matl Flow Rate Bit 9 41 BYTE 5 41

Matl Flow Rate Bit 10 42 42
Matl Flow Rate Bit 11 43 43
Matl Flow Rate Bit 12 44 44
45 45
46 46
47 47
48 48
BYTE 6 49 BYTE 6 49
50 50
51 51
52 52
53 53
54 54
55 55
56 56

BYTE 7 57 BYTE 7 57
58 58
59 59
60 60
61 61
62 62
63 63
Fault Reset 64 64
s is the AND of Dispense in Process and PrePressurized
Table 3 Sealer Signal Sequence
Function Sequence Description
Pre- 1 Check that the Nordson controller Dispenser Ready signal is ON.
Dispense 2 Turn ON desired Part ID bit.
 Pre-
Dispense
3 Wait 50 mS.
4 Turn ON Part Strobe signal. This is bit 10; same as old Style Strobe.
5 Wait for Nordson controller Dispenser in Process signal to turn ON. Dispenser
6 in Process
Wait 50 mSisafter
the logical AND
receiving of the oldinDispenser
Dispenser in Process and Meter
Process signal.
Prepressurized. It indicates system is in the dispense cycle AND
Dispense 7 Set robot analog output to desired dispense rate. Dispense rate can be set
prepressurized.
8 earlier
Set andif reset
desired.
Gun On signal as required for the path.
Ending 9 Wait at least 50 mS after part segment's last Gun On signal is turned OFF.
Part Cycle 10 Pulse Dispense Complete ON for at least 50 mS duration.
11 Nordson controller turns Dispenser in Process signal OFF.
12 Wait at least 250 mS before checking for Nordson controller Volume OK
13 signal.
Turn OFF Part Strobe signal.
14 Nordson controller turns Volume OK signal OFF.
15 Wait for Nordson controller Dispenser Ready signal to be ON; indicates refill
16 complete.
Ready to dispense next part/bead.

Input Signals
Signal Description
Part ID bits These 8 bits define the Part Style to be dispensed. Up to 256 individual parts
1-8 can be defined in terms of bead size, target volume setpoint, and prepressure
setpoint. These bits must be HIGH at the rise of the Part Strobe input in order
to be recognized. If none of the bits are HIGH at the rise of the strobe input,
part ID ZERO is used. The bits may be dropped any time after the strobe is
raised without affecting the value active during that part cycle.

Part Strobe This input is Dispense Enable signal. When it is LOW, the dispense controller
ignores all other inputs, resulting in no dispensing. If this input is dropped
during the dispensing cycle, the part will be aborted. Any volume that has
been dispensed is cleared from the volume total and faults regarding volume
target error will not be posted. The meter refills when this signal is dropped to
abort a part. The rise of this input causes the meter to pressurize in
preparation for the dispense cycle.
 Gun On When this input is HIGH, the outlet valve opens and the meter moves forward
to dispense material at a rate determined by the analog voltage from the robot
and the bead size setting used.
Dispense This input is a pulse at least 50 mS in duration that must be sent after the last
Complete gun on input for the part cycle is dropped. It causes the volume total to be
calculated and to be compared against the target volume setpoint. This input
refills the meter if the meter is set to Refill After Every Part. If the meter is set
to Refill After Setpoint Is Reached, this input causes the part’s volume to be
added to a running total, and will not cause a refill until the total has exceeded
the value entered for Refill Setpoint.

Fault Reset The rising edge of this pulse input resets any faults that are not Self-Clearing.

Remote Start This input should be a pulse of at least 500 mS in duration. It causes the
material supply pump to pressurize and energizes the contactor of the heater
circuits. This allows the system to be prepared for production without having
an operator go to the controller.
Purge This input causes the meter to be purged at a rate set in the Service Menu
screen named Meter Setup. The meter purges when this input is held HIGH,
or until the Extend Prox switch is reached. When the input is dropped the
meter will refill.
Output Signals
Signal Description

This output indicates that the PCI controller is ready to dispense and that no
faults are present that will affect the performance of the system. Individual
Dispenser faults that are set to Major can cause this output to be held LOW. Program the
Ready robot to check for this output to be HIGH before attempting to run a part cycle.

This output goes HIGH when the controller receives a Part Strobe input and
when the servomotor moves far enough forward to pressurize the meter to the
value programmed in Service Menu on the Prepressure Setpoints screen.
This pressure setpoint can be set to different values for each Part ID and is
Dispense In helpful in assuring that the start of the material bead is correct. Program the
Process robot to wait for this output to go HIGH before the first Gun On input is raised.
 This output is HIGH until the operator places the controller in the Manual
mode. The robot can use this output as a confirmation that dispensing can be
performed. When the controller is in the Manual mode, Dispenser Ready is
Auto Mode forced to LOW.
This output is raised at the end of a part cycle if the volume dispensed is within
the MAJOR HIGH/LOW percentages of the Target Volume set on the Meter
Faults menu. Use this output to determine if a part is acceptable for
Volume OK processing or if it should be rejected.
This output is raised when a fault defined as a major fault has been detected.
Major Fault Major faults will cause Dispenser Ready to be forced LOW.
This output is raised when a fault defined as a minor fault has been detected.
Minor Fault Minor faults do not affect the Dispenser Ready output.

This output goes HIGH when the controller receives a Remote Start input
pulse. The output remains HIGH until all the conditions are met to restore
Remote Start Dispenser Ready such as the pump stand pressurized and the temperature
In Progress zones within their defined setpoint limits.
$ EZ-EDS Version 1.0 Generated Electronic Data Sheet

$ Electronic Data Sheet For Nordson PCI Generation 2 controller

[File]
DescText = "Nordson EDS File";
CreateDate = 04-12-2006;
CreateTime = 09:45:37;
ModDate = 04-13-2006;
ModTime = 11:35:20;
Revision = 1.1;

[Device]
VendCode = 416; $ Vendor Code
VendName = "Nordson";
ProdType = 12; $ Product Type
ProdTypeStr = "Generic Device";
ProdCode = 1; $ Product Code
MajRev = 2; $ Major Rev (This matches identity object value from device)
MinRev = 3; $ Minor Rev (This doesn't match value from device)
ProdName = "Nordson PCI II S-1";

[IO_Info]
Default = 0x0001;
PollInfo =
0x000D,
1,
1;
COSInfo =
0x0005,
1,
1;
CyclicInfo =
0x0009,
1,
1;

Input1 =
8,
0,
0x000D,
"8 Byte Input",
6,
"20 04 24 64 30 03",
"";

Output1 =
8,
0,
0x000D,
"8 Byte Output",
6,
"20 04 24 70 30 03",
"";
Register
60 Maximum Flow Rate for Shot Meter (15cc=10, 35cc=20, 100cc=?)

Variables
SL Setup (Sets Delay times for gun ON, etc.

Do this for both equipments. $SLSETUP[1] and $SLSETUP[2].

SYST-212 Need to apply to DCS param

TESTSP LINE 0 AUTO ABORTED\H1\\\\\\\\JOINT\100\%
SYSTEM\Variables\\\\\\\\\\\\\\\\
$SLSETUP[1] 104/218
98 CAL_GUNS_USE 1
99 FR_CALS_DONE 0
100 MAX_SCH_NO 100
101 MAX_PART_ID 64
102 LOOP_TIMER 20
103 NUMBER_GUNS 1
104 CONV_FACTOR1 200.000 – set to 409
105 CONV_FACTOR2 200.000 – set to 409
106 MAX_IO_COUNT 2047 - set to 4090
107 SLDBGFLG 0
108 SLDBGFLG1 0

# TYPE ]