Cencor 1000BR Operating Instructions 2.2.1

Cencorp 1000 BR
Operating Instructions
Rev. 2.2.1
Cencorp Corporation
Introduction
Introduction
This manual contains information on how to use the cell and control the production. The
Operating Instructions is recommended for the personnel programming the cell.
The operation of the Cencorp cell is controlled by a PC. Because the hardware and
software are under continuous redesigning, this manual is not applicable to any previous
cell.
NOTE!
Study all chapters in this manual before starting production with the cell.
Other Manuals
In addition to this manual, the following manuals are delivered with each cell:
Project manual - contains the technical data; mechanical and electrical drawings,
etc.
Users Guide - contains information on the safety issues, maintenance and basic
instructions on how to use the cell. The Users Guide is recommended for the
personnel operating the cell.
Other essential manuals on the cell equipment are either abbreviated in this manual or
delivered separately. If there are any manuals missing which you feel are necessary for
the operation or maintenance of the machine, please contact Cencorp Corporation.
Contact Information
Cencorp Corporation
Cencorp Worldwide
Maksjoentie 11
FI-08700 Virkkala
FINLAND
www.cencorp.com
Email to Sales Department:

sales@cencorp.com
Email to Spare Parts Department:
spareparts@cencorp.com
E-mail your feedback:
feedback@cencorp.com
Cencorp Corporation
Introduction
Information in this document is subject to change without notice. Names and data used
in the examples herein are fictitious unless otherwise noted. No part of this document
shall be reproduced or transmitted in any form or by any means, electrical or mechanical,
for any purpose, without prior written approval of Cencorp Corporation.
Cencorp Corporation assumes no responsibility for any errors or omissions in this
document. Critical evaluation of this manual by the user is welcomed. Your comments
assist us in preparing future documentation.
Copyright Cencorp Corporation 2006. All rights reserved.
Any other trademarks from other companies used in this publication are the property of
those respective companies.
Cencorp Corporation
Table of Contents
Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Other Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Contact Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
1.
Graphical User Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
2.
Starting the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

Setting Access Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
User Access Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Setting Startup Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Setting Security Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
3.
View Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

Machine Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Event Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Graphic View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
4.
Product Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Save. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Save As . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Program Editor - Command Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Move Relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Move Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Move Arc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Acquire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Drop Off. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Rout Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Rout Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Wait IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Conveyor Control (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Router In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Locate Panel (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Router Out. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
02/02/2006
Cencorp Corporation
Table of Contents
Wait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Change Bit Type (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Wait Pickup Hand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Output Command (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Verify Board (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Grip. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Remove Scrap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Machine Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Bit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Pickup Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Routing Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Router Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Offload Repeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Conveyor Adjust (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Panel Stop Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Scrap box life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.
Production Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Panel Pass Thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Vacuum Bag Life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Override Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Prepare Teach (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Take In Product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Reset Statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Scrap Box Life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Barcode (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Release Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Adjust Gripping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Spindle Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Manual Reload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
DVT (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Grip Sens (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Set Current Fingers (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Vision (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
CMS (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Offload Start At (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Panel Start At (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
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Table of Contents
6.
Functions Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

Check Collet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
Change Finger (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Auto Bit Change. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Move Pickup Hand to Safe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Move Router to Safe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Adjust Conveyor (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Export Log File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Change Language (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Backup/Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
Shutdown. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
7.
Configure Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

Process Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
Bit Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
Automatic Bit Change Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
Host System (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
Machine Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
Camera Offset (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Machine Offsets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
Router Z. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Vision Settings (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
Fingers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
8.
Diagnostics Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

Direct I/O Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Output Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
Servo Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
Lower Camera. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
Home Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
TCP/IP Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
SMEMA Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
Reset Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
Set Axis Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
Conveyor Adjust (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
OS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
Motor Step Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
Motion Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
Cencorp Corporation
Table of Contents
Motor Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
9.
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Appendix A - Back-Up / Restore the Hard Drive
Appendix B - SMEMA Standard
Appendix C - Technical Specifications
Cencorp Corporation
Graphical User Interface
1. Graphical User Interface

The Cencorp 1000 Bottom Router (BR) program is a user interface for a PC controlled
robot control system, through which the operator can communicate with the robot, e.g.
change parameters and control the run. The BR program is created by Cencorp
Corporation.
FIGURE 1. MAIN MENU
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Graphical User Interface
Cencorp Corporation
Starting the System
2. Starting the System

The cell can be started after all the external units and separately delivered accessories
have been connected and the power and pneumatic supply has been connected to the
cell.
1. Turn the Main Switch ON. The cell PC should start automatically.
If the PC does not start, check that the PC and monitor cables have been correctly
connected to the sockets inside the cell and that the monitor and PC (inside the
electric drawer) is ON.
2. Start the Cencorp 1000 Bottom Router (BR) software by clicking its icon on the
desktop, if not started automatically.
3. Select Enable Machine (Outputs) to connect the servo power and pneumatics to
the cell.
For safety reasons the servo power and air pressure are connected to the cell, only
after the Enable Machine button has been pressed.
4. Check that the machine is clear from personnel and products. Move the robots
manually away from the conveyor, if needed. Select OK to enable machine or
Cancel, if the machine is not clear.
5. To make sure that the emergency circuits have not been damaged during the
transport, test the functioning of them.
Ensure that all the doors are closed and locked and the Emergency Stop buttons
are up.
Start testing the Emergency Stop buttons by activating them one by one.
Cencorp Corporation
Starting the System
Every time an Emergency Stop button has been pressed, Hi Power should go off.
At the same time a message indicating the emergency stop is displayed on the
screen and the red signal light is lit.
Release the Emergency Stop button and press the RESET button.
Check that the emergency circuits function also, if the key is turned to the RUN
position, while the front or back door is open.
Check that the safety doors get locked, when the key is turned to the RUN
position. The doors should open only after the key is turned to the SERV position.
6. After testing the emergency circuits, select Home Servo Motors to calibrate the
servo axes.
If the Home Servo Motors button is not enabled (gray), check that the cell is not in
the Emergency Stop or DOORS status.
7. Check that the robots (upper and lower) are not near the conveyor rails or any other
obstacles, i.e. are in positions from where they can freely move to any direction.
Press the DOORS button and move the robots manually, if needed.
8. Press OK to continue. The robots start moving. The Z-axis is calibrated first.
WARNING!
When calibrating the machine for the first time, take extra caution. Before
starting the calibration, make sure that the safety doors are closed. Never leave
the machine alone during calibration. Follow the calibration and be ready to
press the EMERGENCY STOP button, if the robot suddenly starts moving fast.
10
Cencorp Corporation
Starting the System

Setting Access Levels
9. After calibration, the program asks which finger pair is currently in the gripper.
Select the Finger list button and select the name of the current finger pair from the
list. Press OK to accept the selection.
10. The cell is ready for defining the operators access levels.
2.1
It is recommended that the main user sets an access level for each operator. Once
logged in, the operator has access to certain features of the system depending on the set
access level.
User Access Menu

After having logged in, selecting the Access button opens the User Access Menu. The
items in the User Access Menu are for setting the passwords and the access levels for
users.
Through the User Access Menu the main user (Access Level 50) can set security levels
for the menus and/or individual menu items (see Setting Security Levels on page 13)
and set the system startup access level (see Setting Startup Access Level on page 13).
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11
Starting the System

Add User
1. Select Access - User Setup - Add User.
2. Enter Login Name (up to 12 characters)

3. Enter Password (up to 12 characters).
4. Enter Access Level (10 - 50).
5. Enter full name (up to 20 characters) into the Full Name field.
6. Select OK.
Modify User
1. Select Access - User Setup.
2. Select a Login Name from the list and select Modify User
3. Make the changes into the fields in the window.

4. Select OK to accept the changes.
Remove User
This item removes the selected user from the list.
12
Cencorp Corporation
Starting the System

Setting Startup Access Level

1. Select Access - User Setup.
2. Select Startup Access.
3. Enter the startup level (10, 20, 30, 40 or 50) into the Startup Access Level field. The
Startup Access Level allows a certain level of access upon startup without requiring
a user to log in.
If all operators are to log in before using the machine, set the Access level to 0. After
logging out, the user will see all menu buttons (except Access) grayed out.
Setting Security Levels

The main user can set security levels for each menu and/or each menu item. This feature
provides a possibility to restrict access where necessary.
To set access levels:
1. Select Access - Show Access...
The Access button appears in the bottom right corner of the screen.
2. Select Exit Menu to close the User Access Menu.

3. Open the correct Menu on the screen.
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13
Starting the System

4. Select the Access (F3) button at the bottom of the screen. The color of the button
changes to white.
5. Select the menu item you want to set the access level. A window with Access Level
field is displayed.
6. Select the access level for the item (Level 10, 20, 30, 40 or Super 50) into the Access
Level field.
7. Select OK to accept.
8. To be able to open a new menu, select the Access (F3) button. The color of the
button changes to grey and the pointing device functions normally.
9. Open the Access menu and select Hide Access...
14
Cencorp Corporation
View Menu
Machine Status
3. View Menu
The View command allows to switch between the options for viewing production. This
command is enabled also when in Production Mode.
Click on the View switches between the following views:
Machine Status
Event Log
Graphic View
3.1
Machine Status
In production mode this view displays the current status of the pick-up hand, router and
conveyors. Currently active production selections are highlighted on the lower left corner.
Possible warning messages are displayed on the left side.
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View Menu
Event Log
3.2
Event Log
The Event Log is a history of machine actions and commands, accompanied by their
dates and times. The operator may view Event Logs through a Snapshot View or a Real
Time View.
Real-Time View
Use the Real-Time View to view machine actions and commands as they occur. This
function is useful for noticing how the machine reacts to a certain command or action. It
is also useful for troubleshooting while observing production moves.
Snap-Shot View
Use the Snap-Shot View to take a snapshot of the Event Logs and to view actions from
the beginning of the record to the end, or vice versa. This function is useful for tracking
the series of events that led to a problem.
The Real Time View is displayed as the default view.
To access the Snap-Shot View while in the Real-Time View, select the Snap-Shot
View button.
Use the arrow keys to view the Event Log page by page.
To clear the Event Log, select the Clear Log button.
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View Menu
Graphic View
3.3
Graphic View
The Graphic View shows the movements of the pick-up hand (gripper) and the router as
they occur.
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View Menu
Graphic View
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Product Menu
4. Product Menu
Product-specific configuration and programming commands as well as commands for file
handling are grouped under the Product Menu.
Open
To open a new or saved product program.
Program
To open the Program Editor window for editing the current

product program.
Settings
To set up product-specific settings.

Machine Options
Bit Settings
Pickup Hand
Conveyor
Routing Speed
Router Origin
Offload Repeat
Conveyor Adjust (Option)
Panel Stop Position
Scrap Box Life
Save
To save the current product program.
Save As
To save the current product program with a new name.
Delete
To delete product programs.
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Product Menu
Open
4.1
Open
Use the Open command to open a new or saved product program.

1. Select Product - Open.
2. Select a product program from the list and press OK.

To create a new program, select ***NEW*** - OK. Then, to give a name for the
new program, select Product - Save As.
4.2
Save
Use the Save command to save the changes made to the current product program.
1. Select Product - Save.
The Save Program window displays the program name and asks, if it is OK to save.
If the program is not saved, the Save As window is displayed. Then, type in the
program name and description.
2. Select OK.
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Product Menu
Save As
4.3
Save As
Use the Save As command to save the current program with a new name.
1. Select Product - Save As.
2. Enter the name for the program (up to 12 characters) in the Program Name field.
3. Enter a new description into the Description field (up to 20 characters), if it is
necessary to differentiate between programs.
4. Select OK.
4.4
Delete
Use the Delete command to delete a product program which is no longer needed.
1. Select Product - Delete.
2. Select the program to be removed from the list

3. Select OK. The selected program name is displayed with a question OK to Delete
Program.
4. Select OK. The program has now been deleted, and the system returns to the Delete
Program(s) window.
5. Repeat until all unnecessary programs have been deleted.
6. Select Cancel to exit.
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Product Menu
Program
4.5
Program
Use the Program command to open the selected program to the Program Editor. In the
Program Editor you can create, edit and test product programs.
CAUTION!
Only a person who has attended robot programming training arranged by
Cencorp or has otherwise acquired good knowledge in robot programming may
create or edit product programs.
NOTE!
It is recommended to calibrate the machine and teach the camera offset, before
editing program.
1. After selecting the Program command, the Program Editor window is displayed.
Routing program
Info field
The program commands are displayed in the blue field on the right.
Description of the selected command (highlighted) is displayed in the gray field
below the command list.
The field above the program displays the name of the current product program
and units used in the program (millimeters or inches).
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Product Menu
Program
The field above the program displays also the number of commands stored in the
Paste Buffer, if there are commands in the buffer.
The Paste Buffer is a storage for the commands cut (with Delete or Tag) from the
program. Selecting the Paste button places the commands from the Paste Buffer
into the program. The Paste Buffer contains copies of the commands until it has
been emptied (UnTag) or replaced with new commands.
The following tools are provided for creating and editing a program.
Arrow buttons
are for selecting (highlight) the program row.
Insert
opens the Command Menu for inserting commands to the

program. See Program Editor - Command Menu on page 25.
Commands are inserted below the selected (highlighted)
command and cannot be inserted before Begin or after End.
Edit
opens a window for editing the selected command.
Tag
marks a command(s) which can then be placed in the Paste

Buffer by selecting DELETE.
UnTag
removes all tags from the program, and clears them from the
Paste Buffer.
Delete
removes all the Tagged commands from the program and places
them in the Paste Buffer.
Paste
inserts all command(s) in the Paste Buffer above the highlighted

command. A command(s) in the Paste Buffer may be pasted
multiple times. The commands are stored in the Paste Buffer until
replaced by another commands.
Direct IO
displays the Direct IO Control window, see Direct I/O Control on

page 110.
Servo Control
displays the Servo Control screen, see Servo Control on

page 116.
Tools for testing a program

Select View
choose to view the program sequence with the Lower Camera or

in the graphic view (No Camera).
NOTE!
Before using the camera view, check that the Camera Offset has been set (see
Camera Offset (Option) on page 99).
Jog Fwd
steps through the program, one command at a time.
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Product Menu
Program
Tools Menu
The Tools button displays a menu of the functions useful during the programming.
Direct IO
displays the Direct IO Control window, see Servo Control on

page 116.
Servo Control
displays the Servo Control screen, see Servo Control on

page 116.
Take In Product
locks a new panel to the routing position, see Take In Product

on page 69.
Release Product
releases the current panel from the routing position, see

Release Product on page 71.
Camera Offset
allows to teach the camera offset, see Camera Offset (Option)

on page 99.
Exit Menu
closes the Tools Menu window.
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Product Menu
Program Editor - Command Menu
4.6

NOTE!
Routing programs are made up of commands. It is necessary that the operator
becomes familiar with each command and its function before using them.
To insert a command into a program:

1. Select (highlight) the row in the routing program, below which the new command is
needed.
2. Select Insert. The Command Menu is displayed.
3. Select the wanted command from the Command Menu and select OK to accept it. A
command window for giving detailed information is displayed.
Menu contains the following commands:
Move Relative
move the router in relation to its previous position, see page 26.
Move Absolute
move the router to absolute coordinates, see page 28.
Move Arc
move the router along an arc, see page 30.
Acquire
pick-up a board from the routing position, see page 32.
Drop Off
place the board into its placing position, see page 35.
Rout Board
create a macro for routing a board, see page 39.
Rout Pattern
create a macro of routing a pattern, see page 42.
Wait IO
set the routing program to wait for an input signal, see page 43.
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Product Menu
Conveyor Control
set the conveyor to a specific position (option), see page 44.
Locate Panel
define a Vision Inspection for locating the current panel (option),

see Vision System Operating Instructions.
Router In
move the router to its cutting position, see page 45.
Router Out
move the router to its lower position, see page 46.
Wait
set the program to wait for a specified time, see page 47.
Change Bit Type
change the router bit, see page 47.
Comment
insert a comment into the program, see page 48.
Output Command
set an output signal on, see page 48.
Wait Pickup Hand
set the program to wait until the pick-up hand has completed its
current movement, see page 48.
Verify Board
define a Vision Inspection for checking the incoming board

(option), see page 49.
Grip
set the pick-up hand to grip a board, see page 52.
Remove Scrap
define the panel scrap removing, see page 53.
Verify Panel
define a Vision Inspection for checking the incoming panel

(option), see Vision System Operating Instructions.
NOTE!
Specific boards require specific routing commands and hardware options.
Therefore, not all the commands may be enabled on this specific cell.
Move Relative
There are two important principles of the Move Relative command:
Move Relative moves the router to a position relative to its previous position, not
to a specific machine coordinate. The position of the router after completion of the
move depends on the router's starting position.
During a Relative Move, the X and Y axis move in coordination. Therefore, the X
and Y axes follow a straight path between the starting point and the final position,
moving the router in a straight line.
Final Position
Start Position
Move Relative
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Product Menu
To Program a Move Relative:
1. If the exact X and Y coordinates for the movement are known, enter them into the X
and Y fields, if not, select Use Servos and show the position with the camera reticle.
For further information on using the Servo Control feature, see Servo Control on
page 116.
2. Select YES into the Use Default Speed field, to rout a panel at the speed defined in
the Product - Settings - Routing Speed window.
Select NO to define the routing speed in the Speed mm/s field.
3. If an optional pneumatic gripper is in use, define into the Last Routing Gripper field
the number of the gripper, which is holding the board when the last routingis carried
out. If the routing is not the last one, this parameter is set to zero.
For example, if there are two boards to be routed (four cuttings per board) and two
pneumatic grippers are in use:
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Product Menu
Gripper 1
Gripper 2
2.
2.
Gri
1.
Board 1
3. 1.
Board 2
4.
3.
4.
1. routing = 0
2. routing = 0
3. routing = 0
4. / last routing = 1
1. routing = 0
2. routing = 0
3. routing = 0
4. / last routing = 2
4. Select OK.
Move Relative commands are applicable for the following situations:
Inside a pattern
To program a straight line from one point to another
A command that is not the first positional command in the routing program
A command that requires the router to move in a cutting position
NOTE!
When routing a panel with multiple boards, use an Absolute move to move from
board to board and Relative moves when writing the Rout Pattern. This way, if
part of the program is edited, the pattern does not need to be rewritten.
Move Absolute
There are four important principles of the Move Absolute command.
Move Absolute moves the router to a fixed or absolute position from the board
origin. The position of the router after completion of the move is independent of
the router's starting position.
During an Absolute move, the X and Y axes do not move to create a straight line.
Instead, they both move at the same speed until one is in position, and the second
continues to move to its final position.
both motors
move together
at same rate
Final Position
one motor moves

router to final position
Start Position
Move Absolute
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Product Menu
The first move in a program must be Move Absolute. An error message will
appear if this is not the case.
Do not use a Move Absolute command inside a pattern.
Move Absolute commands are applicable for the following situations:
The router must move at a high speed to a defined location on the panel to
prepare for routing.
It is not necessary to program a straight line from one point to another.
First move in a pattern.
A command that does not require the router to move in a cutting position.
To Program a Move Absolute:
and Y fields, if not, select Use Servos and show the position with the camera. See
Servo Control on page 116.
2. Enter the speed as percents of the maximum speed into the Speed % field.
3. Select YES to the Only First Column and Only First Row panels, if the routing
movement is wanted only for the first column and row. The other tasks are then
skipped.
Select NO, if the program is to be carry out normally.

4. Select OK to save.
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Product Menu
Move Arc
Use the Move Arc command to program the router movement along a circular or rounded
path. See the graphic below for an example of the Arc components.
start position
(start angle)
90 deg
radius (2 inches)
Values are:
Arc Radius =2
Start Angle =90
Traverse Angle =180
180 deg
Y+
traverse angle
0 deg
270 deg
final position
90 deg
X+
To Program a Move Arc:
1. If the arc radius, start angle, and traverse angle are known, enter the values into the
fields, if not, select Use Servos To Teach Arc and show the arc.
The Servo Control window is displayed. Follow the instructions displayed on the
bottom bar of the window.
Move the router to a midpoint of the arc by using the arrow keys. Select the
increment for the router to move by using the + and - buttons.
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Product Menu
NOTE!
When using the camera view, note that the panel is seen from below.
NOTE!
The exact midpoint of the arc is not needed to define the arc. However, the
closer to the midpoint, the more accurate the arc will be.
Select Exit. The Servo Control window stays on the screen, but coordinates at the
Absolute and Relative fields are reset.
Move the router motors to the end-point of the arc by using the arrow keys.
Select Exit. The Move Arc window is displayed.
2. Correct the Arc Radius value, if needed.
3. Type into the Start Angle field the angle from which the arc begins.
Camera view from below the panel
- start angle 0 degrees

- traverse angle 360 degrees
- start angle 90 degrees

- traverse angle 360 degrees
4. Type into the Traverse Angle field the distance that the router should move, i.e.
degrees which the router moves along the arc. A traverse angle set to 180 degrees
creates a half circle.
5. Select YES to the Use Default Speed field, to use the routing speed defined in the
Product - Settings - Routing Speed window.
Select NO to define the routing speed into the Speed mm/s field.
6. Select Test Arc to test the arc created.
7. Select OK to accept the changes or Cancel to delete the command.
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Product Menu
Acquire
Use the Acquire command to define the pick-up and to indicate the position where the
pick-up hand grips the board.
To Program an Acquire:
1. If the exact coordinates of the pick-up location are known, type the coordinates into
the X and Y fields, if not select Use Servos to show the location.
Move pick-up hand to the correct position and turn it to a straight angle (W axis).
Move the pick-up hand to a position where the panel is in the middle of the fingers.
Check that the panel does not move, when the fingers are opened and closed.
Move the pick-up hand to the pick-up height (Z axis) as shown below.
Leave the fingers open, in a way that the pick-up hand moves freely into and out
of the position. The width is automatically updated to the Appro Width panel. The
robot automatically decreases the width 8 mm to get the Grip Width value. After
showing the position, exit the Servo Control window.
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Product Menu
2. Type the speed into the Speed % field.

3. The approaching width of the finger pair is automatically updated in the Appro Width
field. (Enabled when the optional servo-driven pick-up hand is in use.)
4. If the cell is equipped with several finger pairs, use the Select Fingers button to
choose the correct fingers from the finger list.
5. Take the Collision Detection function into use by selecting the checkbox.
6. Type into the Gripper field the gripper numbers, which are used with the command.
Separate the numbers with commas, leave no spaces.
7. Select Options and define the command options.
Lower Hand determines whether or not to lower the pick-up hand. Do not check
this field, if still programming and testing the pick-up location. If the hand is not
lowered, then fine-tune the pick-up coordinates by manually pressing the hand
down and adjust the location.
Clinch Hand determines whether or not to clinch the pick-up hand. Do not check
this field, if still programming the pick-up location of the boards.
NOTE!
If writing a new program or changing to a larger pick-up hand, make sure the
pick-up hand is up when moving in Service mode. Also, if using an offload
conveyor, verify the conveyor area is opened to the new board/hand size. Even
in the up position, if the table conveyor is a smaller size, the clinches can be
broken on the conveyor motors.
Verify Clinch determines whether or not to verify that the clinching was
successful.
Appro Before Grip determines whether the pick-up hand is to be stopped at an
approach position above the actual gripping position or to perform the Acquire
command completely (grip the board).
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Product Menu
When this option is selected, the actual gripping has to be programmed by inserting
a GRIP command after this Acquire command.
Appro Height defines the height of the approach position in relation to the actual
gripping position.
Wait For Done determines whether or not to wait for the Done signal before
proceeding. It is recommended to use the Wait Pickup Hand command instead of
this option.
Unclinch before acquire defines the pick up hand to open at Appro height,
before gripping the product.
8. Select Advanced and define the parameters for approaching the position.
Approach Z Offset determines the height above the position to which the robot
moves first when approaching the position.
Grip Width defines the width of the servo gripper fingers (option) for picking up
the panel/board. See below the grip width.
Approach Speed % defines the speed at which the robot moves from the
approach height to the position.
Depart X Offset, Depart Y Offset, Depart Z Offset and Depart Offset Speed
values are set in the command Drop Off - Advanced.
9. Select OK to save the settings.
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Product Menu
Drop Off
Use the Drop Off command to program the pick-up hand movement from the routing
position (the Acquire position) to the placing position.
To Program a Drop Off command:

1. If the exact coordinates of the location are known, enter the coordinates into the X,
Y, Z and W fields, if not select Use Servos to show the location.
2. Enter speed for the movement into the Speed % field.
3. If the optional servo-driven pick-up hand is in use, enter into the Release Width field
the width of the fingers when releasing the panel/board.
4. Select the Use Collision Detection check box to take the collision detection function
into use. The cell is stopped automatically, if the fingers collide with an obstruction.
5. Type into the Gripper field the gripper numbers, which are used with the command.
Separate the numbers with commas, leave no spaces.
6. Select the Use Second DropOff check box, if an optional second placing position is
to be used. This function is available, if the cell is equipped with two offload
conveyors.
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Product Menu
When this option is checked, the Next button for accessing definition of second
placing position is displayed.
The second placing position is defined in the same way as the first placing position.
7. Select Options and define the command options.
Lower Hand determines whether or not to lower the pick-up hand. Do not check
this field if still programming and testing the placing location of the boards. If the
hand is not lowered, then fine-tune the placing coordinates by manually pressing
the hand down and adjust the location.
Unclinch Hand determines whether or not to unclinch the pick-up hand. Do not
check this field if still programming the placing location of the boards.
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Product Menu
NOTE!
If writing a new program or changing to a larger pick-up hand, make sure the
pick-up hand is up when moving in Teach mode. Also, if using an offload
conveyor, verify the conveyor area is opened to the new board/hand size. Even
in the up position, if the table conveyor is a smaller size, the clinches can be
broken on the conveyor motors.
Verify Release determines whether or not to verify that the release was
successful.
Wait for determines when the router is allowed to proceed:
DEPART PATH - the router waits until the pick-up hand has reached the depart
path position
DEPART - the router waits until the pick-up hand has reached the depart position
DROP OFF - the router waits until the pick-up hand has released the product
Wait ?
YES - the router waits until the movements defined in the Wait for field are done
NO - the robot continues routing while the Drop Off is being executed
Conveyor determines the placing position:
NONE- product is not picked up or the robot does not need to wait for any
conveyor ready signal before proceeding
OFFLOAD 1- product is placed onto the first offload conveyor
OFFLOAD 2- product is placed onto the second offload conveyor
FAIL - product is placed onto the fail conveyor
PANEL EXIT - product is placed on the cell conveyors next section
Release Pallet parameter is for controlling the pallet conveyor (option)
NO - the current pallet is not released after placing the product on it
YES - the current pallet is released after placing the product on it
Data Handling parameter is for communication with an optional system (e.g.
escort memory)
NONE - no data handling
AFTER - communication after executing the Drop Off command
BEFORE - communication before executing the Drop Off command
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Product Menu
8. Select Advanced and define the parameters for departing the position.
Approach Z Offset determines the height above the position to which the robot
moves first when approaching the defined position.
Grip Width defines the width of servo gripper fingers (option) when gripping the
panel/board. This parameter is defined in the Acquire command.
Approach Speed % defines the speed at which the robot moves from the
approach height to the defined position.
Depart X Offset defines a movement to X-direction which is done first when
departing from the defined position.
Depart Y Offset defines a movement to Y-direction which is done first when
departing from the defined position.
Depart Z Offset defines how much the robot moves up when departing from the
defined position.
Depart Offset Speed % defines the speed at which the robot makes the offset
movements when departing after routing.
9. Select OK to save the settings.
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Product Menu
Rout Board
Use the Rout Board command to program macros (patterns) for routing, picking up and
then placing boards onto a defined position. It is possible to define separate macros for
processing accepted and defective boards.
To program a Rout Board command:

1. If the boards need to be routed in a different order depending on the board status (OK
or FAIL), select the ID button to define the routing order. (This option is available, if
the cell is equipped with a board verification sensor, Vision System or a barcode
reader.) If the boards cannot be routed in the order 1,2,3,4,5,6 the Board ID can
determine the routing order, for example, as 3,6,2,5,1,4.
Select the ID button to open the Board ID List.
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Product Menu
Select a board number from the list and select Edit to change the Board ID.
Enter the Board ID number into the ID field.
2. To select a pattern from the Pattern List, press the Select button.
Select a pattern from the list and accept the selection with OK.
To program a new pattern, select the Add button. Give a name to the pattern into
the text field in the New Pattern window and accept by selecting OK.
To delete the selected pattern, select the Delete button.
To copy a pattern, select the Copy button. Give a name to the pattern copy into
To return to the Rout Board window, select the Cancel button.
3. To edit the selected pattern, select the Edit button. The selected pattern is opened
to the Program Editor.
To edit the pattern, use the program editor commands as when editing normal routing
program, see Program Editor - Command Menu on page 25.
For example, to insert commands into the pattern, select the Insert button.
4. To return to routing program, select Exit Pattern.
5. Select the Use Servos button to teach a reference point (a board zero point) for the
pattern. After teaching, the coordinates will appear into the Origin X and Origin Y
fields.
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Product Menu
6. Select Repeat to define the number of boards in a panel.
X Count defines the number of boards in X direction.

Y Count defines the number of boards in Y direction.
X Offset defines the distance between the boards in X direction.
Y Offset defines the distance between the boards in Y direction.
Increment First defines to which direction the routing is repeated first.
See that the Repeat values are zero, if the function is not used.
7. Select into the Turn Board field, if the selected pattern is to be turned 90, 180 or 270
degrees. Select 0, if the pattern is not to be turned.
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Product Menu
Rout Pattern
Use the Rout Pattern command to program the router to rout a particular pattern. This
way you do not need to write identical routing commands for identical boards.
To insert a pattern:
1. Select the Select button. Pattern List is displayed.
GG
Select a pattern from the list and accept the selection with OK.
To program a new pattern, select the Add button. Give a name to the pattern into
To delete the selected pattern, select the Delete button.
To return to the Rout Pattern window, select the Cancel button.
2. After selecting the pattern, the Go Into Pattern question is displayed.
3. To edit the selected pattern, select the Yes. The selected pattern is opened to the
Program Editor.
To edit the pattern, use the program editor commands as when editing normal routing
program, see Program Editor - Command Menu on page 25.
For example, to insert commands into the pattern, select the Insert button.
4. To return to routing program, select Exit Pattern.
5. Select Exit Pattern to Exit Program Editor.
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Product Menu
Wait IO
Use the Wait IO command to set the program to wait for an IO signal before proceeding.
To program a Wait IO command:
1. Check the Let Pickup Hand Execute check box, if the pick-up hand executes the
command.
2. Select IO List and select the signal to be waited for.
3. Accept the selection by pressing OK.

4. Select into the IO State field whether the signal is waited to be ON or OFF.
5. Set into the Wait (in sec) field the time for how long the program is allowed to wait
for the signal. If the signal is not received in the time set, an error message will be
displayed.
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Product Menu
Conveyor Control (Option)

Use the Conveyor Control command for setting the conveyor parameters.
To program a Conveyor Control command:
1. If the cell is equipped with an optional three step conveyor, select the conveyor
position into the Step Conveyor field. The conveyor positions are:
1 = first position (upstream)
2 = center position
3 = last position
2. Select Yes into the Roll Conveyor field to set the conveyor to move the panel
automatically forward and relock to the routing position, after a board has been cut
from it and picked up.
3. If the Roll Conveyor function is selected to be in use (Yes), you can also set the
second conveyor segment to move automatically, after a board has been cut from
the panel and picked up. Select then Yes into the Use Panel Exit Conveyor field.
4. Select Yes into the Release Pallet field to program the pallet conveyor (option) to
release the current pallet.
Optional functions
5. Select Yes into the Take Out Board field to set the second conveyor section to move
the board automatically out of the cell, after it has been cut.
6. If the Take Out Board function is selected to be in use (Yes), you can also set the first
conveyor segment to move automatically, after a board has been cut from the panel.
Select then Yes into the Use Panel Conveyor field.
This function can be used, e.g. to move the last board directly out of the cell after it
has been cut from the panel.
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Product Menu
Router In
Use the Router In command to move the router into its cutting position (Router In
position). In the Router In position, the router bit cuts the panel, as the router moves.
panel, side view
To insert a Router In command:
1. Select Use Servos to teach the height of the router bit in the Router In position.
NOTE!
The bit life time can be extended by using different Router In heights in the
routing programs.
2. Select YES into the Max Speed field to execute the movement at maximum speed.
If you select NO, you can enter the movement speed into the Speed mm/s field.
Locate Panel (Option)

Use the Locate Panel command to check the exact position of the registered panel by
using the panel fiducial marks with the optional Vision System. See the Vision System
Operating Instructions for more detailed information.
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Product Menu
Router Out
Use the Router Out command to move the router to its lower, non-cutting position (Router
Out position). In the Router Out position, the router bit does not reach the panel, and may
be programmed to move at high speeds from a position to another.
panel, side view
To program a Router Out command:
1. Select Use Servos to teach the height of the router bit in the Router Out position.
2. Select YES to the Max Speed field to execute the movement at maximum speed. If
you select NO, you can enter the movement speed into the Speed mm/s field.
3. Select Yes into the Use Bit Check Z? field, if the router bit is to be checked in Router
Out position.
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Product Menu
Wait
Use the Wait command to pause the router for any unspecified reason. This command is
useful for the following:
Extra time for the router to execute the Router In move when routing thick boards.
Insert the Wait command after the Router In command.
A situation that requires a pause of the router.
To program a Wait command:
1. Enter into the Wait (in msec): field the amount of time for how long the router should
pause. The value is given in milliseconds.
2. Check the Let Pickup Hand Execute check box, if the pick-up hand is allowed to
move and perform its workcycle while the router is paused.
Change Bit Type (Option)

Use the Change Bit Type command to program a bit change in the mid-program. This
feature is useful when a small section requires a different sized bit. Changing bit types
could extend bit life for the various types of bits.
You may insert as many Change Bit Type commands in a program as desired. However,
changing bit types often greatly increases the cycle time.
To program a Change Bit Type command:
1. Select Bit List and highlight the bit type to be used for the following routing commands
in the program.
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Product Menu
Comment
Use the Comment command to add comments into the program. You may insert as many
comments as you want.
1. Enter the comment text into the field and select OK.
Wait Pickup Hand

Use the Wait Pickup Hand command to set the program to wait for the pick-up hand to
execute its work phases before proceeding the routing process.
This command is usually needed after Bad Board Check commands, in order to allow the
pick-up hand to finish its movements before the router executes.
To program a Wait Pickup Hand command:
1. Select from the program list the command after which you want to insert the Wait
Pickup Hand command.
2. Select Insert.
3. Select Wait Pickup Hand from the Command Menu.
The command is now inserted to the program.
Output Command (Option)

Use the Output Command to set a specific output ON or OFF.
To program an output command:
1. Select the IO List button to open the output list.
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Product Menu
2. Select the wanted output from the list and OK to accept the selection. The name of
the selected output is displayed in the Name field.
3. Select into the IO State field the status of the output to be ON or OFF.
Verify Board (Option)

Use the Verify Board command to check the status of the incoming board(s) before
routing them. The boards may be labelled or marked for example as OK or FAIL.
Further processing of the board is defined after this verification.
The board verification may be carried out
by using a sensor installed in the upper robot or
by using the optional Vision System.
NOTE!
Insert the Verify Board command before the routing commands to avoid routing
wrong boards.
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Product Menu
To program a Verify Board command with Vision System:.
1. Select the Use Vision check box.

2. Select the Edit Task button and teach in the UI-Inspector the item to be searched
from the board (e.g. label, component or code). For further information, see the
separate Vision System Users Guide delivered with the system.
3. Enter into the Speed % field the speed for the movement.
4. If the exact X and Y coordinates of the checking position are known for the pick-up
hand to move, enter the coordinates (into the X, Y, Z and W fields), otherwise enter
Teach Mode by selecting Use Servos and teach the checking position.
5. Enter into the Speed % field the speed for the pick-up hand movement in
percentages of the maximum speed.
6. Enter into the Board ID field the number of the board which is to be checked.
7. The Move To Safe After and Side Movement Speed check boxes are of no
importance, when using the Vision System inspection. Vision inspection is always
performed at safety height.
8. Enter a new Verify Board command for each board (for each checking position) in
the panel.
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Product Menu
To program a Verify Board command sensor:

At first the status of the checking sensor needs to be defined by checking a reference
label installed inside the cell. This is done by programming one Verify Board command
at the position where the reference label is.
1. Enter into the Speed % field the speed for the movement.
2. The checking sensor is installed next to the gripper fingers, therefore it may be
necessary to remove the fingers from the gripper or set them into a specific width
before moving to the checking position.
WARNING!
Ignoring this function may cause a collision with the mechanics inside the cell.
Select Select Fingers and choose NONE to remove the fingers from the gripper
before checking the label or
Enter into the Width field the width to which the fingers (servo gripper) are to be
set before checking the label.
3. Select the Check Sensor check box. A Warning message requesting to teach the
checking position is displayed. Select OK to close the message window.
4. Select Use Servos and move the pick-up hand into a position where the checking
sensor detects the reference label installed inside the cell.
When teaching the position of the reference label, the program automatically uses
the cell absolute coordinates instead of coordinates related to the board origin.
5. Enter into the X, Y Offset fields the distance how much the pick-up hand needs to
move so that the sensor does not detect the reference label.
6. Select OK. Now a check for defining the status of the sensor has been programmed.
When running the program in production, the robot runs the sensor first above the
reference label, then above the blank position.
7. Insert a new Verify Board command into the program for programming the actual
verification of the boards.
8. If the exact X and Y coordinates of the checking position are known for the pick-up
hand to move, enter the coordinates (into the X, Y, Z and W fields), otherwise enter
Teach Mode by selecting Use Servos and teach the checking position.
9. Enter into the Speed % field the speed for the pick-up hand movement in percents
of the maximum speed.
10. The checking sensor is installed next to the gripper fingers, therefore it may be
necessary to remove the fingers from the gripper or set them into a specific width
before moving to the checking position.
WARNING!
Ignoring this function may cause a collision with the mechanics inside the cell.
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Product Menu
Select Select Fingers and choose NONE to remove the fingers from the gripper
before checking the label or
Enter into the Width field the width to which the fingers (servo gripper) are to be
set before checking the label.
11. Enter into the Board ID field the number of the board which is to be checked.
12. Check the Move To Safe After check box, if the pick-up hand is allowed to move to
the safety height after checking the board. Select this function into use, if this is the
last board in the panel to be checked, or if there are mechanical obstacles on the
board, which need to be skirt around.
13. Enter into the Side Movement Speed field the speed at which the pick-up hand
moves to the next position. This is in use only if the pick-up hand is not moved up
after checking the board. (Move To Safe After function if not activated)
NOTE!
Enter a new Verify Board command for each checking position (each board in a
panel).
Grip
Use the Grip command to grip a routed board with the pick-up hand. This command can
be used only after the Acquire command.
The Grip command is used for programming the actual gripping, if the Appro Before
Grip option in the Acquire command has been selected. The Appro Before Grip option
defines that the pick-up hand is stopped at an approach position above the actual
gripping position. When this option is selected, the actual gripping has to be programmed
by inserting a Grip command after the Acquire command.
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Product Menu
Remove Scrap
Use the Remove Scrap command to remove the panel scrap. Define the location, to
which the lower robot is moved, before the locking clamps and pins are unlocked.
To program a Remove Scrap command:
and Y fields, if not, select Use Servos and show the position with the camera. See
Servo Control on page 116.
2. Enter the speed as percents of the maximum speed into the Speed % field.
3. Set into the Wait (in msec) field for how long a time the program waits after unlocking
the locking clamps and pins.
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Product Menu
Settings
4.7
Settings
Use the Settings command to set up product-specific parameters.
Machine Options
to define the use of machine options.
Bit Settings
to define the use of the routing bit.
Pickup Hand
to define the use of the pick-up hand.
Conveyor
to define parameters for the conveyors functions.
Routing Speed
to define the speeds for different router movements.
Router Origin
to define the router program origin.
Offload Repeat
to define the matrix for placing boards on the offload conveyor.
Conveyor Adjust
to define the panel width.
Panel Stop Position to define the panel stop position.

Scrap box life
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to define the emptying interval for the scrap box.
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Product Menu
Settings
Machine Options
Use the Machine Options command to define the use of the optional Board Verification
sensor.
Max. Skips per Panel defines the maximum number of boards allowed to be skipped
per panel. If the Board Verification sensor identifies too many
defective boards (the value set in this field is exceeded), the
production is stopped and an error message is displayed. Using
this feature prevents good boards from being dropped into scrap.
Verifier Delay
defines a delay (milliseconds) to take place between activating

the Board Verification sensor and reading the status of the
sensor. This delay is to make sure that the robot is completely
stopped before checking the sensor.
Skip if Verify Sensor is defines which boards are to be skipped (not routed).
ACTIVE - the board is skipped, if the sensor status is ON (or the
optional Vision System finds the mark from the board).
INACTIVE - the board is skipped, if the sensor status is OFF (or
the optional Vision System does not find the mark from the
board).
For further information, see Verify Board (Option) on page 49.
Ignore Verify Commands is for taking the Board Verification feature out of use, i.e. all
the verify commands are skipped when running the program.
Skip All Boards If Faildefines the program to skip all boards in the panel, if one of the
boards in the panel is found defective.
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Product Menu
Settings
Bit Settings
Use the Bit Settings command to configure product-specific bit settings.
Bit Diameter
specifies the diameter of the bit that is to be used.
Bit List
opens a list for selecting the diameter. Available Bit Types are
defined through the Configure menu, see Bit Settings on
page 88.
Spindle Speed
specifies the spindle speed to be used. The spindle speed is

measured in thousands of rotations per minute (K-Rpm).
Cutting Speed
specifies the cutting speed in meters per minute.
Rout-Length Factor
The software multiplies the routing length by the value given in

this field. This factor allows to correct the rout length in order to
get the actual length (see example below).
Difference between the
actual routing length
and the length calculated
automatically from the
program.
A decreased value (Rout Length Factor < 1) allows the machine

to rout more panels before giving an alert about bit life.
An increased value (Rout Length Factor > 1) allows a shorter bit
life, alerting the machine earlier that the bit has expired.
NOTE!
When cutting thin boards, the bit life time is longer than when cutting thick
boards.
Estimated Rout Length: displays the total routing length (millimeters).
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Product Menu
Settings
Pickup Hand
Use the Pickup Hand command to define the use of the pick-up hand.
Acquire Delay
defines a delay (in milliseconds) to take place between reaching

the position and closing the fingers when picking up a panel. (See
Acquire on page 32)
Drop Off Delay
defines a delay (in milliseconds) to take place between reaching

the position and opening the fingers when placing a panel. (See
Drop Off on page 35)
Move To First Position sets the pickup hand to automatically move to the first position
in the routing program while waiting for the next panel.
Gripper Count (Option) defines the number of grippers in use. This feature is needed
only with an optional pneumatic gripper.
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Product Menu
Settings
Conveyor
Use the Conveyor command to define the operation of the conveyor(s). The Cencorp BR
cells consist of two conveyor sections. The other conveyor section is always a Panel
Conveyor equipped with locking pins and it is the actual routing station. The other section
is either a Staging Conveyor, a buffer before the routing station, or a Panel Exit Conveyor,
a buffer after the routing station.
Roll out after routing defines the panel or scrap frame to be rolled out of the cell after
finishing the routing.
Offload 1 Rolling Time, Offload 2 Rolling Time
is the time for how long the offload conveyor runs after a new
board has been placed on it. The time is given in milliseconds.
Wide belt before locking
defines whether the panel conveyor needs to be widened before
locking the incoming panel or not.
Panel conveyor fast speed
defines, whether the conveyor is run at its fastest speed or not.
Tray type (Option)
defines tray type used when taking the panels out of the cell with
the optional offload tray.
Scrap frame roll out delay (msec)

is a delay for rolling the scrap frame out of the cell along the panel
conveyor. The sensor at the end of the exit conveyor is read after
this delay has passed. The delay is given in milliseconds.
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Product Menu
Settings
Use output buffer (Option)

defines whether the Panel Exit Conveyor is used as a buffer
(YES) or run with Panel Conveyor.
Use input buffer (Option)
defines whether the Staging Conveyor is used as a buffer (YES)
or run with Panel Conveyor.
Use Scrap Conveyor defines whether the scrap conveyor, installed below the routing
unit, is in use (YES) or not (NO).
Panel Locking Retrys defines how may times the program tries to lock a panel with
locking pins, before an error message is displayed.
Drop smema at begin (Option)
defines the preceding conveyor to stop after a board has arrived
to the sensor at the beginning of the conveyor and the smema
delay has elapsed. Normally this option is to be set out of use
(NO). This option is needed in customized applications only.
Smema delay (Option)defines a delay (in msec) for stopping the preceding conveyor
(Drop smema at beginning). This delay is needed in customized
applications only.
Pin in Use (Option)
defines the pin(s) used for panel positioning/centering: NONE,

FRONT, BACK or BOTH.
Clamp in Use
defines the locking clamp(s) used for panel positioning/centering:

NONE, FRONT, BACK or BOTH.
Pin locking order (Option)

defines the order in which the pins are locked when BOTH pins
are used in positioning: BOTH AT SAME TIME, FRONT FIRST
or BACK FIRST.
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Product Menu
Settings
Routing Speed
Use the Routing Speed command to define the speed at which the router moves when
cutting boards (Router In position).
1. Enter the product-specific routing speed into the Speed field in millimeters per
second.
Router Origin
Use the Router Origin command to set the product-specific router origin. It is a panel zero
point, to which the routing coordinates in the program will be related instead of machine
zero point.
NOTE!
All the routing positions in this program are automatically related to this router
program origin. Changes in the positioning of the panel DOES NOT require
reteaching the routing positions, reteaching of the router program origin updates
the routing positions.
1. Select Use Servos to show the origin position, or type the program origin coordinates
into the X and Y fields.
When selecting Use Servos, the program asks if you want to move the router to the
current origin. Answer Yes or No, depending on the current origin and position.
Then the program asks if you want to use the camera to view the current origin.
Answer Yes or No, depending on whether to use the camera view or the graphical
view. The Servo Control screen is displayed.
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Product Menu
Settings
2. Move the robot to the new origin position on the panel in Servo Control.
NOTE!
It is recommended to define the Router Origin to a panel locking hole (position
of the fixed panel locking pin).
3. Select Exit to exit the Servo Control window.
4. Select OK to save and exit.
NOTE!
The program asks to teach the program origin coordinates always, when
entering the Program Editor.
Offload Repeat
Use the Offload Repeat command to define a matrix of the board placing positions on the
offload conveyor.
X Count
defines the number of placing positions in the matrix X-direction.
Y Count
defines the number of placing positions in the matrix X-direction.
X Offset
defines the distance between the placing positions in the matrix

X-direction.
Y Offset
defines the distance between the placing positions in the matrix

Y-direction.
Increment First
defines to which direction (X or Y) of the matrix is moved first.
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Product Menu
Settings

Use the Conveyor Adjust command to define the product-specific conveyor width and the
locking pin distance for automatic conveyor width adjustment. These functions are in use
only, if the cell is equipped with automatic adjustment options (conveyor width and/or
locking pin distance adjustment).
Product Conveyor Width

enter the width of the product (board or panel) in millimeters.
Actual Conveyor Width
displays the current width of the conveyor rails.
Product Pin Width
enter the distance between the locking pin holes on the product
(board or panel) in millimeters.
Actual Pin Width
displays the current distance between the locking pins.
Product Pin Width 2 enter the distance between the holes for additional locking pins
on the product (board or panel) in millimeters.
Actual Pin Width 2
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displays the current distance between the additional locking pins.
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Product Menu
Settings
Panel Stop Position

Use the Panel Stop Position command to set the product-specific location of the panel
stopper installed in the lower robot (router unit).
1. Select Use Servos to teach the panel stop location.

The program asks, if you want to move the stopper to the previously taught
position. Select Yes or No.
The program asks, if you want to raise the stopper to its upper position. Select
Yes or No.
The Servo Control window is displayed.
2. Move the router in the XY-level so that the panel stopper is in a correct panel stop
position.
3. Select EXIT to close the Servo Control window.
4. Select OK to accept the coordinates of the new the panel stop position (displayed in
the X and Y fields in the Edit Position window).
Scrap box life

Use the Scrap box life command to define the emptying interval for the scrap box. The
emptying interval is a product-specific value and it is defined by the number of run
products.
1. Give the number of products, which can be run until the scrap box is full. If the scrap
box counter is not in use, type 0 (zero).
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Product Menu
Settings
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Production Menu
5. Production Menu
The commands in the Production Menu are available also when in Production Mode.
Panel Pass Thru
To set the panel conveyor to run in Pass Through mode.
Reset Statistics
To reset the counters.
Spindle Life
To reset the Spindle Life counter and edit the warning limits.
Vacuum Bag Life
To reset the Vacuum Bag Life counter and edit the warning limits.
Scrap box life
To set the warning limit for the scrap box counter.
Grip Sens
To take the pick-up hands detection feature into use/out of use.
Statistics
To view and export the counters.
Offload Start At (Option)To define the product location on the off load conveyor.
Panel Start At (Option)To set the work phase from which to start production.
Override Speed
To change the cell operating speed.
Barcode (Option)
To take the barcode reader in use/out of use.
Manual Reload
To update the bit status to the system after loading a bit manually.
Take In Product
To take the next product into the cell.
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Production Menu
Panel Pass Thru
Release Product
To release the current product from the locking station.
Prepare Teach (Option) To prepare the cell for teaching a special boards placing
position, e.g. placing into a tray or pallet.
Adjust Gripping
To take the gripping adjustment function in use/out of use.
Vision (Option)
To open the Vision System user interface on the screen.
DVT (Option)
To open the DVT program for creating/editing X-Out Checks.
CMS (Option)
To open CMS user interface on the screen.
5.1
Panel Pass Thru
Use the Panel Pass Thru command to set the conveyors to operate in the Pass Through
Mode.
1. Select the conveyor rail to operate in pass through mode.

2. Select OK. The panels entering the conveyor are directly send forward.
NOTE!
If any of the conveyors is set to operate in the Pass Through mode, it is shown
on the main screen.
To exit Pass Through mode:

Select Production - Panel Pass Thru.
Select None and press OK.
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Production Menu
Vacuum Bag Life
5.2
Vacuum Bag Life
Use the Vacuum Bag Life command to edit the counter which tracks the usage of the
vacuum bag.
After replacing the vacuum bag, select Reset to zero the counter for Vacuum Bag
Life Used.
Select Edit to define how many meters can be routed to one bag.
Enter into the Vacuum Bag Life panel the length how many meters can be routed
to one bag. When the bag is full, a message is displayed. The production will not
resume until the bag is replaced and the counter is reset.
Enter into the Vacuum Bag Warning panel the length after how many meters
routed a Vacuum bag warning is displayed.
Accept the new values with the OK button.
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Production Menu
Override Speed
5.3
Override Speed
Use the Override Speed command to lower the cell operating speed.
1. Select Production - Override Speed.
2. Enter into the Override Speed panel the new operating speed in percents of the
maximum speed.
3. Select OK to accept the change.
5.4
Prepare Teach (Option)
Use the Prepare Teach command to prepare the cell for teaching a special boards
placing position, e.g. placing to tray or pallet.
1. Select the Production - Prepare Teach command ON.
2. Select Enter Production Mode and select START to start the routing.
The program cuts the first board according to the routing program. Then the gripper
moves up and the following question is displayed:
If you want to teach the placing position for the first board, select Yes. The Servo
Control window is displayed to teach the placing position for the DROPOFF
command.
Select No to cancel teaching.
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Production Menu
Take In Product
5.5
Take In Product
Use the Take In Product command to lock the next incoming panel to the routing station.
1. Slide a panel along the panel conveyor until it reaches the panel stopper.
2. Select Production - Take In Product.
3. Select OK. The locking pins (and side clamps) move down and lock the panel.
5.6
Reset Statistics
Use the Reset Statistics command to set the statistics displayed on the main screen to
zero.
To reset the counters to zero:

1. Select Production - Reset Statistics.
2. Select OK to accept.
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Production Menu
Scrap Box Life
5.7
Scrap Box Life
Use the Scrap Box Life command to set the warning limit for the scrap box counter (i.e.
when it is time to empty the scrap box).
1. Select Edit to define the warning limit.
Enter into the Warning (%) panel the number of routed products in percents, after
which the Scrap box life warning is displayed.
2. The Used (%) panel displays the number of routed products/scrap box usage.
5.8
Barcode (Option)
Use the Barcode command to take the barcode reader in use (ON) or out of use (OFF).
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Production Menu
Release Product
5.9
Release Product
Use the Release Product command to release the current panel from the routing station.
1. Select Production - Release Product.
2. Select OK. The panel is released and sent forward to the next cell.
5.10 Adjust Gripping

Use the Adjust Gripping command to take the gripping adjustment function in use (ON)
or out of use (OFF). This function is used to ensure the best gripping result from the
routed board, because the actual gripping location may differentiate from the taught
location.
If the Adjust Gripping function is selected to be in use (Production - Adjust Gripping), the
program asks to show the reference positions before gripping board.
Turn the key switch to SERV position.
If the product has a repeating routing pattern, select No to the question Use origin
positions as reference?. Define the position for the gripping adjustment.
Show the position at least three (3) times to get the best result for the adjusting.
Answer Yes to the question Teach again? and No, when teaching is complete.
Select Yes, if the robot uses the defined router origin to adjust the gripping.
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Production Menu
Spindle Life
5.11 Spindle Life

Use the Spindle Life command to edit the counter which tracks the use of the current
spindle.
After replacing the spindle, select Reset to zero the counter for Spindle life used.
Select Edit to enter the time limits for the Spindle life time and the Spindle life
warning.
Enter into the Spindle life panel the time for how long one spindle can be used.
Enter into the Spindle Life Warning panel after how many hours of use the
program will display a Spindle life warning.
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Production Menu
Statistics
5.12 Statistics
Use the Statistics command to view the counters. Use the Export button to save the
statistics in to the file.
The Statistics window includes the following counters:

Boards Processed
The number of routed boards.
MTBF
Mean time between failure.
Availability
The percentual availability of the cell in the Production mode.
Usage
The percentual usage of the cell since the last reset.
Line Capacity
The number of boards, which can be processed in the production

line in an hour.
Machine Capacity
The number of boards, which can be processed in the cell in an

hour.
5.13 Manual Reload

Use the Manual Reload command for updating the status of a bit slot (slot position list in
Configure - Bit Settings) after manually adding a new bit into the bit magazine.
1. Select Production - Manual Reload.
2. Enter the number of the slot where the new bit has been placed.
3. Select LOAD (OK).
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Production Menu
DVT (Option)
5.14 DVT (Option)

Use the DVT command to open the DVT program for creating/editing X-Out Checks. For
further information on X-Out Check function, see the X-Out Check guide delivered with
the system.
5.15 Grip Sens (Option)

Use the Grip Sens command to take the pick-up hands board detection feature in use
(ON) or out of use (OFF). To be able to run partially depanelled boards, turn the Grip
Sens command off.
5.16 Set Current Fingers (Option)

Use the Set Current Fingers command for updating the servo gripper status. The name
of the current finger pair is displayed on the main screen.
This command is needed, if the program does not know which finger pair is currently in
the gripper. This may happen if the fingers in the gripper have been changed manually.
CAUTION!
If the current fingers in the gripper are not the same as shown in the Current
Fingers field on the main screen, it causes a robot collision with the finger
bracket, when the robot changes the gripper fingers.
Select Production - Set Current Fingers.
Select the Finger list and choose the correct finger pair from the list.
Select OK. The name of the current finger pair is displayed on the main screen.
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Production Menu
Vision (Option)
5.17 Vision (Option)

Use the Vision command to take the Vision System in use (ON) or out of use (OFF).
5.18 CMS (Option)

Use the CMS command to open the CMS (Cell Monitoring System) user interface on the
screen. For further information on the CMS software, see the CMS Users Guide
delivered with the system.
5.19 Offload Start At (Option)

Use the Offload Start At command to set the off load conveyor location to which the
routed products are started to take into.
NOTE!
The Start at definition needs to be made before selecting the Enter Production
command.
1. Select Production - Offload Start At.
2. Give the new starting point for off loading in the XY-direction to the X and Y panels.
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Production Menu
Panel Start At (Option)
5.20 Panel Start At (Option)

Use the Panel Start At command to set the work phase from which to start production.
NOTE!
The Start at definition needs to be made before selecting the Enter Production
command.
1. Select Production - Panel Start At.
2. Type the new starting point i.e. board number (1-6) to the Count panel. The counting
is started from the programs first row (Acquire).
For example, if the starting point (Count) is defined as 3, the program will skip all the
other commands, until it founds the third Acquire row, even if the program is
repeated.
NOTE!
If the barcode reader is turned off and this command is taken into use, the
program will ask if you want to release the board, when the Enter Production
command is selected.
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Functions Menu
6. Functions Menu
Commands for executing basic machine functions are grouped under the Functions
Menu.
Check Collet
To open the collet for cleaning/inspection.
Change Finger (Option) To change a new finger pair to the servo gripper.
Auto Bit Change
To change the router bit with the pick-up hand (by using the
automatic bit change function).
Move Pickup Hand to Safe To move the pick-up hand to its safe position.
Move Router to Safe To move the router to its safe position.
Adjust Conveyor (Option)
To automatically adjust the conveyor width and/or locking pin
distance.
Export Log File
To save the Event Log file in text format.
Change Language (Option)

To change the language of the graphical user interface.
Backup/Restore
To take backup copies and restore programs and configurations.
Shutdown
To shutdown the cell.
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Functions Menu
Check Collet
6.1
Check Collet
Use the Check Collet command to check and clean the router spindle, which holds the
routing bit. The spindle should be inspected daily.
1. Select Functions - Check Collet.
2. Switch OFF the converter at the back of the cell. Select OK when done.
3. Select OK to move the router to the manual bit change location.
4. After the router movement, inspect and clean the collet (remove and insert the bit).
5. Select OK when done.
6. Switch ON the converter.
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Functions Menu
Change Finger (Option)
6.2
Change Finger (Option)
Use the Change Finger command to change the fingers in the pick-up hand.
1. Select Functions - Change Finger.
2. Select the Finger list and choose the correct fingers from the list and press OK.
The robot moves to the finger rack and places the current fingers into their slot and
then picks up the selected finger pair.
6.3
Auto Bit Change
Use the Auto Bit Change command to change a new bit to the router.
1. Select Functions - Auto Bit Change.
2. The following window is displayed.
3. Type into the Bit Changer Slot field the number of the slot from which the new bit is
to be picked up.
The pick-up hand removes the current bit, picks up a new bit and places it into the
collet.
If the Check Bit Diameter (Configure - Bit Settings) function is selected, the current
bit is taken to its position in the bit rack before the new bit is picked up.
If the Check Bit Diameter function is not in use, the current bit is taken to the waste
box.
6.4
Move Pickup Hand to Safe
The Move Pickup Hand to Safe command moves the pick-up hand to its safe position (in
the middle of the cell).
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Functions Menu
Move Router to Safe
6.5
Move Router to Safe
The Move Router to Safe command moves the router to its safe position (in the middle
of the cell).
6.6
Adjust Conveyor (Option)
Use the Adjust Conveyor command to move the conveyor to the product-specific width,
defined in the Product - Settings - Conveyor Adjust window.
NOTE!
When changing the routing program, the width adjustment procedure must then
be run before starting production, if the current width settings differ from the
settings in the latter routing program.
1. Select Functions - Adjust Conveyor.
Product Conveyor Width displays the new conveyor width in millimeters.

Actual Conveyor Width displays the current conveyor width in millimeters.
Product Pin Width displays the new locking pin distance in millimeters.
Actual Pin Width displays the current locking pin distance in millimeters.
NOTE!
The fields in the Conveyor Adjustment window are not editable. See the
product-specific conveyor settings on page 62.
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Functions Menu
Export Log File
2. To adjust the conveyor width, select the upper Adjust button.
Ensure that the conveyor is empty from products before selecting OK to start the
adjustment.
The upper robot moves the adjustable conveyor rail to the product-specific width.
3. To adjust the width of the locking pins, select the second Adjust button.
Ensure that the conveyor is empty from products before selecting OK to start the
adjustment.
The upper robot moves the adjustable locking pin to the product-specific position.
6.7
Export Log File
Use the Export Log File command to save the current log file in text format.
1. Select Functions - Export Log File.
The Log Export window shows the name (current date) and location of the log file. If
there already is a log file saved under that name, it will be replaced with this one.
2. Select OK to accept the command.
6.8
Change Language (Option)
The Change Language command changes the language of the user interface to the
customers language, if a translation is available (text file exists).
To change the language back to English, select the Change Language command again.
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Functions Menu
Backup/Restore
6.9
Backup/Restore
Use the Backup/Restore command to take backup copies of programs and

configurations, or to restore programs and configurations to the system.
To Backup Programs:
1. Select Functions - Backup/Restore - Backup Programs. The Backup All
Programs window is displayed.
2. Select OK to write the files to the shown directory. When the backup is complete,
select OK.
To Restore Programs:
1. Select Functions - Backup/Restore - Restore Programs.
2. Select OK to restore files.

The files are written back onto the system. If the file already exists, you have the
option of overwriting the file. When the restoring is complete, select OK.
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Functions Menu
Backup/Restore
To Backup Configurations:
1. Select Functions - Backup/Restore - Backup Configurations.
2. Select OK to backup configuration files. When the backup is complete, select OK.
To Restore Configurations:
1. Select Functions - Backup/Restore - Restore Configurations.
NOTE!
A warning window appears. Please read carefully, as all configuration files will
be overwritten, when the OK button is pressed.
2. Select OK to restore configuration files. When the restoring is complete, select OK.
The system is restarted.
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Functions Menu
Shutdown
6.10 Shutdown
Use the Shutdown command to close the software.
1. Select Functions - Shutdown.
2. Select Yes to move the pick-up hand to its safe position before shutting down. A
window asking to confirm the shutdown command is displayed.
3. Accept the shutdown command by selecting OK.

NOTE!
Do not turn off the power. Wait until It is now safe to turn off your computer is
displayed.
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Configure Menu
7. Configure Menu
Cell-specific configuration commands are grouped under the Configure Menu.
The cell is delivered from the factory configured for the customer. However, if there are
changes in the operating environment, the configurations need to be updated.
Process Timing
Set the system time-outs and delays.
Bit Settings
Set the parameters for the bit check and bit change functions.
Host System
Not in use in this application.
Machine Positions
Set the cell-specific positions.
Camera Offsets
Set the camera positions in relation to the router.
Machine Offsets
Set the machine offsets.
Router Z
Set the default heights for the router.
Vision Settings (Option)To set up Vision System settings.

Fingers
Set the parameters and teach the robot positions for the
automatic finger change function.
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Configure Menu
Process Timing
7.1
Process Timing
Use the Process Timing command to set time-outs and delays for various functions.
NOTE!
Process Timing values are given in seconds and can be as small as one
hundredth of a second.
A delay instructs the system to wait a set amount of time before beginning a
specific function.
A time-out defines an amount of time for an action to be completed. If the action
is not completed within this time frame, all machine functions pause and an error
message is displayed.
Set time-outs and delays:
1. Select Configure - Process Timing.
2. Select (highlight) the field to change and enter the correct value.
Router Spin Up Delay is a delay for the router to reach its target speed before beginning
to process panels.
WARNING!
Too short a delay may cause bit breakage or inaccurate cutting.
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Configure Menu
Process Timing
Panel Stop Delay
is a delay to take place between detecting a panel at the first

conveyor sensor and stopping it.
If the sensor has been moved or speed has been adjusted, the
Panel Stop Delay compensates for effects on registration.
WARNING!
Too short a delay may cause incorrect panel locking.
Panel Roll Out Timeout is the time the software waits for the panel to roll out of the cell
before an error message is displayed.
Offload Roll Out Delay is a delay for the panel on the off load conveyor to roll off the
conveyor. The software waits the set delay time before checking
that the trailing edge of the panel has passed the sensor.
Router Idle Timeout is the time for how long the router remains idle (is waiting for a
panel) before shutting off the router spindle and vacuum. These
functions restart automatically, when a new panel enters the cell.
Panel Detect Timeout is the time for how long the software waits for an incoming panel
to reach the sensor before an error message is displayed.
Offload To End Timeout is the time for how long the software waits for the board to
reach the sensor at the end of the off load conveyor before an
error message is displayed.
Scrap Conveyor Idle Timeout
is the time for how long the scrap conveyor runs when waiting for
a panel. The conveyor is stopped after the time set in this panel
is reached. The conveyor is restarted automatically, when a
panel is placed on it.
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Configure Menu
Bit Settings
7.2
Bit Settings
Use the Bit Settings command to configure features for monitoring bit usage. By using
the provided features, bit breakage during the production can be avoided.
The Bit Settings window contains the following screen items:
Bit Position Table (see page 90)
Check boxes for taking optional bit monitoring and automatic bit change functions
into use (see page 89)
Command buttons e.g. for setting the bit sizes and bit change parameters (see
pages 92 - 94)
The use of these screen items is described in the following pages.
NOTE!
The system handles bit breakage either manually or automatically, depending
on the options purchased with the machine and the configuration of the
software.
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Configure Menu
Bit Settings
Check Boxes
Use Bit Detect
takes the Broken Bit Detector sensor into use. The bit is checked
before each command and each time the router is in the Router
Out position.
Check Bit Life
takes the bit life counter into use. The status of the bit life counter
is checked before each cycle. If there is no bit life remaining, the
machine automatically changes the bit. If this option is
unchecked, production will continue running until the bit breaks.
Halt if Bit Expired
halts production when the last usable bit expires. If this option is
unchecked, the production will continue running until the last
usable bit breaks.
Check Bit Diameter
enables the machine to check the bit diameter against a specified

bit diameter in a given routing program. This procedure ensures
that the correct bit is used for any particular program.
Calculate Slot Positions enables the automatic calculation of slot positions. To use this
function:
activate the Calculate Slot Positions field
select (highlight) the first slot position (1) from the position list
select the Edit Position button
teach the first slot position, see Edit Position on page 94
select OK to accept the position

The program automatically calculates the slot positions listed.
Use Path
activates the use of a path position, while the pick-up hand moves
from the router loading position to the bit slot position and vice
versa. The coordinates of the path position are displayed at the
end of the position list.
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Configure Menu
Bit Settings
Bit Position Table

The Bit Position table shows the slot positions in the bit rack (rows from 1 to 20) and the
positions needed for automatic bit change function (rows from 21 to 25).
Slot
shows the number of the bit slot in the bit rack.
Position X/Y/Z/W
to specify the exact position of the slot.
Diam.
is the diameter of the bit in the slot.
Status
is the status of the bit in the slot:
Bit Used
Broken
the bit is broken
Disabled
the bit slot is disabled
Empty
there is no bit in the slot
Expired
the bit has reached its bit life
Present
the bit is present and OK
Unknown
the status of the bit is unknown. To correct this,

reload the bit changer.
is the amount of bit life used. There are two values in this field:
the actual length routed and the percentage of bit life used.
Automatic Bit Change Function

The robot changes a broken and/or worn bit automatically, depending on the selections
made in the Bit Settings check boxes. The unnumbered positions at the end of the Bit
Position table are the positions needed for the bit change functions.
When a worn bit is detected or the Auto Bit Change command (Functions Menu) is
selected:
1. The router moves to the Router Wait Position.
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Configure Menu
Bit Settings
2. The pick-up hand moves to the Pickup Hand Load Position, the router spindle is
opened and the pick-up hand picks up the bit from the spindle.
3. The pick-up hand takes the bit to the bit waste box, or to its slot in the bit rack
(depending on the selections made in the Bit Settings check boxes).
4. The pick-up hand takes a new bit from the bit rack and places it into the router. The
router spindle is closed.
NOTE!
To change the position coordinates, select the wanted row from the Position
table and select the Edit Position button (see page 94).
Router Wait Position is the router position, when changing the bit automatically (with
the pick-up hand). The router runs to this position, when a broken
bit is detected or the Auto Bit Change command (Functions
Menu) is selected.
Pickup Hand Load Position is the pick-up hand position used when picking up a bit and
when placing a bit to the router spindle.
NOTE!
To be able to pick up a broken bit from the spindle, set the Z value of the Pickup
Hand Load Position to be small enough. The Pickup Hand Load Position needs
to be as close to the spindle as possible.
The height of the gripper
fingers when picking up
and placing a bit into the
spindle.
Pickup Hand Waste Box Position is the position where the pick-up hand takes the
broken and used bits.
Path Position (Router - Bit rack) is a path position for the pick-up hand, when moving
between the spindle and the bit rack. This position is needed, if
there are obstructions on the straight route between the spindle
and the bit rack.
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Configure Menu
Bit Settings
Define Bits
Use the Define Bits (Configure - Bit Settings) command to define the bit types used in the
cell.
Size
Use the Size command to adjust the reticle to the size of the selected bit.
Size the reticle to fit the bit type (camera option is required):
1. Load a panel onto the conveyor to drill a hole to the panel frame.
2. Select Configure - Bit Settings.
3. Select Define Bits.
4. Select (highlight) the bit type to size in the Define Bit Types window.
5. Select Size. A window is displayed, in which the selected bit is located, unless the bit
is already loaded in the router.
6. Select Yes to allow the router to change to the correct bit type.
7. Select OK to use the Servo Control window to find a suitable place to drill a hole.
8. Move the servos to teach the correct location on the panel to drill a hole. Select Exit
to close the Servo Control window.
9. Select OK to drill the hole.
10. Select OK to use the servos to find the drilled hole.
11. Move the servos and adjust the reticle to fit the hole. Select Exit to close the Servo
Control window.
12. Select Yes to save the new reticle size.
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Configure Menu
Bit Settings
Delete Bit
The Delete Bit command button deletes the selected Bit Type from the cell program.
Add / Edit Bit
Use the Add Bit and Edit Bit commands to define the following bit parameters:
Bit Diameter defines the diameter of the bit. It
is needed when the Check Bit Diameter function
is in use.
Spindle Speed defines the spindle rotation
speed in rotations per minute.
Bit Life defines the maximum routing length
(in millimeters) for the bit. After reaching this
value, the bit status is changed to Expired. This
value is needed when the Check Bit Life function
is in use.
Warning Limit defines the routing length after
which a warning message of bit life is displayed.
This value is needed when the Check Bit Life
function is in use.
Description is for giving a short description of the bit type.
Disable Slot / Enable Slot

Use the Disable Slot command to take the selected bit slot position out of use.
To disable a slot:
1. Select (highlight) the bit slot position to be disabled.
2. Select Disable Slot.
3. Select OK to confirm or select Cancel to exit.
To enable a disabled slot:
1. Select a disabled slot.
2. Select Enable Slot.
3. Select OK.
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Configure Menu
Bit Settings
Edit Position
Use the Edit Position command to change the selected position.
2. Select (highlight) the correct row from the Bit
position table.
3. Select Edit Position. The Edit Position
window is displayed.
4. Type the new coordinates into the X, Y, Z and
W fields or select Use Servos to move the
robot to the new position.
5. Move the robot to the new position.
6. Select Exit in the Servo Control window.
NOTE!
When teaching the Pickup Hand Load Position, teach the position to be near the
spindle so that the bit can be picked up even when it is broken.
7. Select OK in the Edit Position window to accept the new position.
Select Diameter
Use the Select Diameter command to change the diameter of the selected bit.
2. Select the correct row from the Bit position table.
3. Select Select Diameter. The Select Diameter window
is displayed.
4. Use the arrow keys to select the correct bit diameter.
5. Select OK. The new bit diameter for that slot is
displayed in the Bit position table.
Manual Reload
Use the Manual Reload command to manually change/reload bits into a slot.
2. Select in the Bit position table the slot number that you want to refill. The bit slots are
numbered in the bit rack.
3. Select Manual Reload.
4. Put the bit manually into the right slot.
5. Select OK. The Bit Life counter and Bit Status are reset.
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Configure Menu
Host System (Option)
Servo Gripper
Use the Servo Gripper command to define the servo gripper parameters for the automatic
bit change function.
2. Select the Servo Gripper button. The
Servo Gripper Setup window is
displayed.
3. Select Select Finger and choose the
fingers for the bit change from the finger
list.
4. Type into the Appro Width field the
width of the fingers when approaching
the router.
5. Type into the Grip Width field the width
of the fingers used when picking up the
bit.
When using the Bit Gripper (option) for automatic bit change function:
When using the Bit Gripper (option) for the automatic bit change function, the fingers of
the servo gripper may collide with the router unit or other mechanical obstruction.
Therefore, the gripper fingers need to be removed from the pick-up hand or the width of
the fingers need to be set suitable for the function.
6. Type into the Finger Width field the width into which the fingers are to be set before
changing the bit with Bit Gripper.
7. Select Yes into the Take away fingers field, if the fingers need to be removed from
the pick-up hand. The fingers are then automatically taken into their slot in the finger
bracket before changing the bit.
Set Active
Use the Set Active command to activate the bit to the routing program, if it has been
changed manually.
NOTE!
The manual bit change should not be used unless the automatic bit change
function is not possible for some reason.
7.3
Host System (Option)
The Host System command is for the settings of an optional Host System, which may for
example collect statistics on production.
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Configure Menu
Machine Positions
7.4
Machine Positions
Use the Machine Positions for setting and editing machine positions. The positions are
listed in Position Table. This list is needed when creating a program. Therefore, it is
recommended to pay attention to the naming of positions; descriptive names make
programming easier.
Machine positions are:
the finger change positions (option)
CALIBFINGERPOS - position of the calibration tool in the finger bracket
FINGER1POS - position of the Finger1 finger pair in the finger bracket
the positions needed for automatic conveyor width adjustment (option)
CONVRESET - position from where the adjustment cylinders start the adjustment
CONVWIDE - the farthest position to which the cylinders move the rail
CONVGRIP - position where the cylinders grip the rail for setting it to the defined
product-specific position (see Product - Settings - Conveyor Adjust)
.
NOTE!
Before teaching positions, turn the key switch to the SERV position. In the SERV
mode, the robot speed is limited to max. 150 mm/s.
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Configure Menu
Machine Positions
Edit / Add Position

1. Select the position to change and press Edit Pos or select Add Pos to add a new
position.
2. Select the Name field and type in a name for the position.
3. Define the coordinates of the position.
If you know the exact coordinates, type them into the X, Y, Z and W fields.
If you want to teach and record the correct coordinates by moving the pick-up
hand to the desired position, enter Teach mode by selecting Use Servos.
Use the arrow buttons or select Manual and move the robot by pulling/pushing it
by the fixed parts.
When the correct position has been reached, select Exit. The Edit Position
window reappears with the updated coordinates.
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Configure Menu
Machine Positions
4. The Frame field is for defining the frame data. Normally the machine positions are
defined as ABSOLUTE positions. If you have taught a frame position to which the
position is to be related, select Show Positions and select the correct frame
position.
5. Select the Type field until it displays the correct position type. The options are usually
Cam
position for camera inspection
Feed
feeder position (for OF and FA cells)
Fing
finger change position (for automatic finger change option)
Frame
specific frame position, to which the position is to be related
Pos
normal position
Tool
tool change position (for automatic tool change option)
6. Accept the data in the Edit Position window by selecting OK. By selecting Cancel you
can close the window without saving the changes.
Save Pos
Select Save Pos to save the changes on the position list.
Exit
Select Exit to close the window.
Delete Pos
Select Delete Pos to delete a position from the position list:
1. Select the position to be deleted from the Position Table.
2. Select Delete Pos. OK to delete position? is displayed.
3. Select OK to accept or Cancel to cancel deletion. When deleting a frame position,
the following message is displayed:
To also delete all the positions related to this frame position, select Yes.
To change the positions (related to this frame position) to ABSOLUTE positions,
select No.
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Configure Menu
Camera Offset (Option)
7.5
The cell may be equipped with two cameras, one in the upper and one in the lower robot
(router). The Camera Offsets define the camera positions in relation to the router bit.
To Set the Camera Offset:
1. Select Configure - Camera Offset.
2. The Camera Offset window displays one of the following:
Camera Offset is not set, do you want to teach?
Current camera offset values and possibility to teach/check this offset.
3. Select Yes.
A window asking, if you want to take a new panel in, is displayed. If there is no panel
in the cells locking station, slide a panel along the conveyor rails and select Yes.
4. The Use Servos window asks to use servo control to find a place to drill a hole in a
portion of scrap.
5. Select OK to use servo control. Move the router to a position where it is safe to drill
a hole into the panel.
6. Select Exit to close the Servo Control window.
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Configure Menu
7. The OK to Drill a Hole? window is displayed.
8. Accept the position by selecting OK.

The router drills a hole. The Move Router Out? window is displayed.
9. Select OK to move the router to the Router Out position. The Adjust Router Camera
Offset window asks you to use servo control to show the drilled hole with the lower
camera.
10. Select OK to use servos. The Servo Control window is displayed.
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Configure Menu
11. Use servo control to find the hole drilled into the panel. Make sure that the aiming
reticle is positioned exactly in the center of the hole. Using the + and - buttons,
increase and decrease the movement increment as necessary. Use the sizing
buttons to shrink or grow the aiming reticle until it fits the hole exactly.
12. Select Exit to save the position. The Camera Offset, i.e. the distance between the
lower camera and the router bit is defined to the system.
13. The program shows the new offset values. Select Yes to save the values.
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Configure Menu
Machine Offsets
7.6
Machine Offsets
CAUTION!
Changing the Machine Offsets changes the Router and Pickup Hand positions
in all routing programs. Therefore they are normally not to be changed.
Router Offset
changes all router positions in all programs with the given X / Y

offset values. This offset is normally zero.
Router Z Offset
changes all router positions in all programs with the given Z offset
value. This offset is normally zero.
Pickup Hand Offset
determines the offset between the router and the pick-up hand. If
this offset is defined, the pick position of the board is calculated
from the panel zero point.
NOTE!
The Turn Board function (Program Editor - Command Menu - Rout Board) can
be used only, if this offset has been defined. The Pickup Hand Offset is
configured at the factory before the delivery and is not to be changed unless e.g.
having removed the pick-up hand.
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Configure Menu
Machine Offsets
To Change the Pick-up Hand Offset:

CAUTION!
The Pickup Hand Offset, which determines the offset between the Pick-up Hand
and the Router is configured at the factory before the delivery and is not to be
changed unless e.g. having removed the pick-up hand.
1. Select Configure - Machine Offsets - Pickup Hand.
2. Select Use Servos. The Servo Control window is displayed.

3. Show the pick-up hand center point with the router camera.
Move the lower camera (router) to a position in the middle of the conveyor.
Move the pick-up hand so that its rotational midpoint is in the middle of the camera
view. Turn the pick-up hand (W-CW or W-CCW) to make sure that you show the
exact midpoint of the pick-up hand.
4. Exit the Servo Control window.
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Configure Menu
Router Z
7.7
Router Z
Use the Router Z command to set the default values to the Router In and Router Out
positions for a new program.
NOTE!
See also the programming commands Router In and Router Out (page 45 and
46).
Router In (Bit Change)

The Router In value defines the default routing height.
The Router In height is also the height where the router is when the routing bit is changed
(Bit Change). Therefore, it needs to be set to the correct height for the bit change
operation.
Router Out (Bit Check)

The Router Out value defines the default height for the router for moving under the board
(no routing).
The Router Out height is also the height where the router is when the routing bit is
checked (Bit Check). Therefore, it is necessary that the correct height is entered for the
sensor to be triggered at the correct time for replacement.
Teach Router In
displays the Servo Control window for teaching the Router In

position.
Drill at Speed (mm/sec) defines the speed at which the drilling is done.
Teach Router Out
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displays the Servo Control window for teaching the Router Out
position.
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Configure Menu
Vision Settings (Option)
7.8
Vision Settings (Option)
Use the Vision Settings command to define the parameters for executing Vision
inspections.
Vision Delay (msec) defines the delay to take place between reaching the inspection
position and starting the inspection. This value is for ensuring that
the camera is steady when executing the task.
Verify Camera Offset takes the Camera Offset check into use (Yes).
Verify Camera Offset Interval defines how often (after how many boards) the Camera
Offset check is done.
Verify Bit Type
takes the Bit Type check into use (Yes). When this function is in
use, the Bit Check task is executed (and the router drills a hole
on the board frame) always after the routing bit has been
changed and when entering Production Mode.
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Configure Menu
Fingers
7.9
Fingers
Use the Fingers command to view a list of gripper fingers defined in the system. You can
also add new fingers, remove fingers or change the fingers pick-up positions.
Edit / Add Fingers

1. To edit finger parameters, select fingers from the list and select Edit Finger. To add
new fingers into the system, select the Add Finger button.
2. Enter a name for the fingers into the Name field.

3. Select Show Positions and select the correct pick-up position from the Position
Table. The name of the selected position will appear in the PickPos field.
NOTE!
You can teach the pick position by selecting the Add Pos button in the Position
Table. See Machine Positions on page 96.
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Configure Menu
Fingers
4. Define a path position to be used when approaching/departing the pick-up position,

if needed. The path position is needed, if there are obstacles on the robots straight
route to the finger bracket. Select the Show Positions button next to the Path Pos
field and select the path position from the position list.
5. Select the Type field until it displays the correct finger type.
6. Select OK to accept the selections.
Save Fingers
Select Save Fingers to save the changes done to the list.
Exit
Select Exit to close the window.
Del Finger
Select Del Finger to remove the selected fingers from the finger list.
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Configure Menu
Fingers
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Diagnostics Menu
8. Diagnostics Menu
Use the Diagnostics Menu commands to assist in system diagnostics and maintenance.
Direct I/O Control
To control outputs and monitor inputs to diagnose problems.
Environment
To set up machine environment settings.
Servo Control
To control servo motors to move the robots.
Home Machine
To move the servo axes to the cells zero position.
TCP/IP
To set up the TCP/IP connections.
SMEMA Logic
To set up the SMEMA interface between the upstream and

downstream machines.
Reset Servos
To reset AC servo driver errors.
Set Axis Values
For use of Cencorp service personnel only.
OS
To access operating system file manager and tasks. For use of

authorized personnel only.
Conveyor Adjust
To set up the automatic conveyor and locking pin adjustment.
Motor Step Tuning
Motion Tuning
Motor Diagnostics
To diagnose servo motors. For troubleshooting only.
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Diagnostics Menu
Direct I/O Control
8.1
Direct I/O Control
Use the Direct I/O Control command for debugging the systems digital inputs and
outputs. The Direct I/O Control function does not activate the safety features and allows
you to change the status of outputs in order to test the functions.
Use the arrow buttons (up and down) to move through the Direct I/O Control
pages.
The Toggle button changes the status of the selected signal.
The Disable button disables the selected signal.
The Simulate button simulates the selected signal.
The Reset All button resets all simulated and disabled signals to their original
state.
The SMEMA button displays the SMEMA connections.
WARNING!
In the Direct I/O Control window the operator has complete control over the
machine functions. In this window it is possible to damage parts of the machine
by colliding components together. Please take caution while using this function.
WARNING!
Before exiting this window, return the signals into their status in which they were
before testing them and select Reset All to reset the simulated and disabled
signals.
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Diagnostics Menu
Direct I/O Control
WARNING!
After using this function, reset the cell by activating the E-STOP button. Then
press the RESET button and continue normal operation.
Output Signals
Outputs are listed on the left. A green indicator light indicates that the output is active.
NOTE!
The signals listed in the DIrect I/O Control window vary depending on options
chosen.
Red Light, Yellow Light, Blue Light
These fields activate/deactivate the lights in the beacon.
To test the red lamp output:
1.Select (highlight) the Red Light field.
2.Toggle the Red Light field ON.
3.Check that the red lamp in the light tower to verify it is on.
4.Toggle the Red Light field OFF.
5.Check the red lamp to verify it is off.
Close Front Clamp, Close Back Clamp Closes / opens the panel clamp.
Clamp Front Widening, Clamp Back Widening
Widens the clamp, i.e. moves the clamp backwards / back to
normal position.
Finger Lock
Opens / closes the finger lock in the gripper.
Finger Release
Activates the blow in the gripper for releasing fingers.
Z-axis Brake
Sets the Z-axis brake on / off.
Panel Conveyor On
Starts / stops the panel conveyor.
Panel Conveyor ReverseStarts / stops the conveyor run in reverse.

Scrap Conveyor On Starts / stops the scrap conveyor.
Stop Light (front), Stop Light (back)Sets the control panel stop light on / off.
Turn Spindle Pressure OnSwitches the spindle cooling pressure on / off.
Turn Ionisator On
Switches the ionisator on / off.
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Diagnostics Menu
Direct I/O Control
Open Collet
Opens / closes the collet.
Turn Router On
Switches the router on.
CAUTION!
Turn the Spindle Pressure ON, before switching the router ON.
Turn Router Off
Switches the router off.
Turn Vacuum On
Switches the vacuum system on.
Turn Offload Flatbelt OnStarts / stops the offload conveyor.

Panel Stopper Up
Moves the panel stopper to its upper position.
Close Bit Gripper
Opens / closes the bit gripper.
Bit Gripper Down
Moves the bit gripper up / down.
Flatbelt Front, Flatbelt BackStarts / stops the flat belt conveyor.

Finger Rack Up
Moves the finger rack up / down.
Rail Lock Open
Releases / locks the adjustable rail of the panel conveyor.
Release Pin Lock
Releases / locks the adjustable locking pin.
Belt Widening 1, 2 and 3Moves the conveyor belt aside for cutting the edge of the panel
frame. There are one to three cylinders installed on the conveyor
rail for moving the belt aside, when routing near the conveyor rail.
These optional cylinders are installed into product-specific
positions and they operate automatically according to the product
program.
Input Signals
Input signals corresponding to the output signals are listed on the right. A red indicator
light indicates that the input is active.
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Diagnostics Menu
Environment
8.2
Environment
Use the Environment command to set the software environment and machine options.
Load Program on Boot at machine start-up the software automatically loads the last
used routing program.
Display Units in Inches sets the unit of measurement to be displayed in inches.
Vacuum Pressure Sensor Active takes the vacuum pressure detection sensor into use.
When this function is selected, the production is stopped when
the sensor indicates low vacuum.
Automatic Logoff
sets the program to automatically log off users of specified

access level. The user is automatically logged off, if the cell has
been idle for the time set in the Delay (sec): field. The access
level is selected into the Level field. The users of this level or
higher are automatically logged off after the defined delay, if this
feature is in use.
Edit Offline (Option)
takes the optional Offline Editor program into use.
Program Name
defines that a program is selected by its name. The operator must

load the correct program before beginning a production session.
This selection is correct for a machine without special program
selection options.
This option may be used in conjunction with the Barcode System
option to check a panel against a loaded program, and to make
sure all panels are correct for the running program, without
changing programs for each incorrect panel.
Barcode System (Option) takes the optional barcode system into use. If this option is
selected, the machine selects and loads a program that matches
the barcode read from the current panel.
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Diagnostics Menu
Environment
This field may be used in conjunction with the Program Name

field to check a panel against a loaded program. This option
allows the system to verify that all panels are correct for the
running program, without changing programs for each incorrect
panel.
Barcode Setup
displays the following window for setting the barcode parameters.
Maximum Label Length defines the maximum number of characters in the code.
The label type can be selected as Fixed Length Label, End of label: ETX (3), LF
(10) or CR (13).
Use Start of label: STX (2) defines that the barcode begins with a STX (ASCII2)
COM Settings defines the communication settings.
Test Device tests the reading of the selected barcode.
After selecting a program from the Program Selection Table, the following command
buttons below the table are enabled.
Delete Entry deletes the selected row from the Program Selection Table.
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Diagnostics Menu
Environment
Add Entry/Edit Entry allows to map a product program to a specific barcode. The
following window displays:
- Program List displays a list of available

product programs.
- Read Label reads the barcode from
current product.
Skip Table is for setting specific boards in a panel to be skipped.
- Add Entry / Edit Entry buttons display

a window for entering the ID codes
and the numbers of the boards to be
skipped.
- Delete Entry deletes the selected row
from the Skip Table.
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Diagnostics Menu
Servo Control
8.3
Servo Control
Use the Servo Control command to directly move the router/pick-up hand to a specific
location and to then record this coordinate for positioning purposes. This is an important
tool for programming, and many configuration and set-up procedures.
The Servo Control window is usually displayed automatically after selecting a teaching
function (Use Servos button).
Rotate CCW (Counter clockwise) and CW (Clockwise) rotate the view 90 degrees.
This feature is for changing orientation with respect to the
machine.
Direct IO
displays the Direct IO Control window, see Direct I/O Control on

page 110.
Select View
to select a view from the lower camera, see Lower Camera on

page 118.
Select Router
activates the servo control of the router. Router movements are

shown on the screen.
Select Pickup Hand
activates the servo control of the pick-up hand. The pick-up hand
movements are shown on the screen.
Router X,Y, Z field
shows the coordinates of the current position.

Absolute value is the distance to the Home position (0,0).
Relative value is the distance to the previous position.
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Diagnostics Menu
Servo Control
Move Increment shows the length of one step. The length can
be increased and decreased by using the + and - buttons.
Smaller increments are used for precise positioning and larger
increments are used to move components across longer
distances.
NOTE!
The position coordinate is highlighted in red when the robot has reached the limit
sensor.
Zero Relative
is useful to measure a move, the radius of a hole or the distance

between two points (as in an offset).
To measure a move:
1.Position the selected robot (router or pick-up hand) at the
starting position.
2.Select Zero Relative.
3.Move the robot to the final position. The X and Y coordinates
show the distances traveled by the servo motors.
Direction buttons
move the selected robot (router or pick-up hand).

Arrow buttons move the robot to the chosen direction
Z-buttons move it up and down
W-buttons rotate the pick-up hand
NOTE!
If the servos do not seem to be moving or are not moving quickly enough,
increase the Move Increment by using the + button.
Manual
releases the servo control, and allows to move the robot manually
by pushing/pulling it from the axes.
When the Manual Move window is on the screen, the robot can
be moved manually. Clicking the OK button closes the window,
enables the servo control and updates the current robot
coordinates in the Servo Control window.
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Diagnostics Menu
Servo Control
Open Collet (Router) opens the collet.

Open Fingers (Pick-up hand) opens the fingers of the pick-up hand. If the cell is
equipped with a servo gripper, pressing this button moves the
fingers towards the chosen direction one step at a time.
Lower Camera
The camera is available for teaching robot positions. (See also Program on page 22).
If the cell is equipped with the optional Vision System, see also the Vision System Users
Guide delivered with the cell.
NOTE!
To use the camera to teach positions, first set the Camera Offset, see Camera
Offset (Option) on page 99.
Shrink
shrinks the reticle. This feature is useful to match the reticle

diameter to the bit diameter.
Grow
enlargens the reticle. This feature is useful to match the reticle

diameter to the bit diameter.
Reset
returns the orientation and the size of the reticle to the default.
Auto Size
changes the reticle size to fit the selected bit type.
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Diagnostics Menu
Home Machine
8.4
Home Machine
Use the Home Machine command to home servos motors.

The servo controller slowly moves each servo axis until every one of them reaches its
home sensor. When the sensor is found, the axis moves in the opposite direction until it
finds the index pulse (one per motor revolution).
WARNING!
Before starting to calibrate, make sure that the safety doors have been closed
and the key is in the AUTO position. Never leave the machine alone during
calibration. Follow the calibration and be ready to press the EMERGENCY
STOP button, if the robot suddenly starts moving fast.
The calibration sequence (depending on the cell equipment) is normally the following:
The pick-up hand and router axes are calibrated at the same time.
Z-axis, vertical movement + servo controlled pick-up hand (option)
X-axis, main axis X (conveyor direction)
Y-axis, main axis Y
W-axis, rotation (pick-up hand only) (calibration direction counter clockwise).
To Home servos:
1. Select Diagnostics - Home Machine.
2. Select OK.
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Diagnostics Menu
TCP/IP Connection
8.5
TCP/IP Connection
Use the TCP/IP Connection command to set the IP-addresses and connections between
softwares.
Select (highlight a connection) and select Edit Conn button or to add a new
connection, select Add Conn. The following window is displayed.
Name shows the name of the selected connection. To add a new connection,
select the Name field and type in the name of the program.
Addr defines the IP address.
Port defines the serial port number.
Type defines the connection type.
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Diagnostics Menu
SMEMA Logic
8.6
SMEMA Logic
Use the SMEMA Logic command to set the use of the offload conveyor.
1. Select Diagnostics - SMEMA Logic.
...staged offload
Yes - the boards will be staged on the offload conveyor according

to the defined delays [Product - Settings - Conveyor - Offload 1
and 2 Rolling Time (msec)].
No - a board is directly run to the end of the offload conveyor and
must be removed before the next board can be placed on.
...staged offload2
8.7
define the use of the optional second flat belt. See above.
Reset Servos
Use the Reset Servos command to clear servo alarms.

1. Select Diagnostics - Reset Servos. The following window is displayed.
2. Select Yes to clear servo alarms.
8.8
Set Axis Values
The Set Axis Values command is for the use of Cencorp service personnel only.
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Diagnostics Menu
8.9
Use the Conveyor Adjust command to set the parameters for the automatic conveyor
width and locking pin distance adjustments. These parameters have been set before the
delivery and there is usually no need to change them unless changes to conveyor
mechanics have been done.
Adjustable Rail
defines which conveyor rail is adjustable, BACK or FRONT rail.
Adjustable Pin
defines which locking pin is adjustable, LEFT or RIGHT.
Conv offset (Y)
defines the offset of the conveyor width, when it is adjusted to the

correct board dimensions. There is no need to modify this offset
once it has been set to the correct value.
Pin offset (X)
defines the offset of the pin width, when it is adjusted to the

correct board dimensions. There is no need to modify this offset
once it has been set to the correct value.
Conv min width
is the conveyors minimum width.
Pin min width
is the minimum distance between the locking pins.
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Diagnostics Menu
OS
Conv max width
is the conveyors maximum width.
Pin max width
is the maximum distance between the locking pins.
Pin 2 at moving rail
defines whether the additional locking pins are mounted on

adjustable (YES) or fixed rail (NO).
Pin 2 min width
is the minimum distance between the locking pins.
Pin 2 Y Offset
defines offset for adjustment of additional locking pins. This is the

upper robots Y coordinate when the conveyor width is zero (0).
Pin 2 max width
is the maximum distance between the locking pins.
8.10 OS
Use the OS command to get an access to the operating systems file manager and tasks.
For use of authorized personnel only.
Select the File Access button to view the files.

Select the Tasks button to view the open tasks.
8.11 Motor Step Tuning

The Motor Step Tuning command is for the use of Cencorp service personnel only.
8.12 Motion Tuning

The Motion Tuning command is for the use of Cencorp service personnel only.
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Diagnostics Menu
Motor Diagnostics
8.13 Motor Diagnostics

Use the Motor Diagnostics command to work directly with the motors for diagnosis and
maintenance.
Servo Control
displays the Servo Control window.
Find Home Sensor
causes the selected motor to find the edge of the home sensor
only. Does not perform the entire homing sequence.
Find Index
causes the selected motor to find the nearest index pulse. An

Index pulse occurs once per motor revolution.
NOTE!
All machine servo devices need to be homed after this function is performed.
Home Motor
causes the selected motor to perform its homing sequence.
Enable Motor
enables the selected motor.
Disable Motor
disables the selected motor.
Limit Sensors
displays the status of the selected servo motor.
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Appendices
9. Appendices
Appendix A - Back-Up / Restore the Hard Drive
Appendix B - SMEMA Standard
Appendix C - Technical Specifications
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Appendices
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www.cencorp.com
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Cencor 1000BR Operating Instructions 2.2.1

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Graphical User Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Starting the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

View Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

Product Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Functions Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

Configure Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

Diagnostics Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

Motor Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Graphical User Interface

1. Graphical User Interface

FIGURE 1. MAIN MENU

Graphical User Interface

Starting the System

2. Starting the System

Starting the System

Starting the System

Setting Access Levels

User Access Menu

Starting the System

2. Enter Login Name (up to 12 characters)

3. Make the changes into the fields in the window.

Starting the System

Setting Startup Access Level

Setting Security Levels

2. Select Exit Menu to close the User Access Menu.

Starting the System

Possible warning messages are displayed on the left side.

To open a new or saved product program.

To open the Program Editor window for editing the current

To set up product-specific settings.

To save the current product program.

To save the current product program with a new name.

To delete product programs.

Use the Open command to open a new or saved product program.

2. Select a product program from the list and press OK.

2. Select the program to be removed from the list

are for selecting (highlight) the program row.

opens the Command Menu for inserting commands to the

opens a window for editing the selected command.

marks a command(s) which can then be placed in the Paste

inserts all command(s) in the Paste Buffer above the highlighted

displays the Direct IO Control window, see Direct I/O Control on

displays the Servo Control screen, see Servo Control on

Tools for testing a program

choose to view the program sequence with the Lower Camera or

steps through the program, one command at a time.

displays the Direct IO Control window, see Servo Control on

displays the Servo Control screen, see Servo Control on

locks a new panel to the routing position, see Take In Product

releases the current panel from the routing position, see

allows to teach the camera offset, see Camera Offset (Option)

closes the Tools Menu window.

Program Editor - Command Menu

To insert a command into a program:

move the router to absolute coordinates, see page 28.

move the router along an arc, see page 30.

pick-up a board from the routing position, see page 32.

create a macro for routing a board, see page 39.

create a macro of routing a pattern, see page 42.

set the conveyor to a specific position (option), see page 44.

define a Vision Inspection for locating the current panel (option),

move the router to its cutting position, see page 45.