The Guidance Dispense product includes an open source application program with a web-based graphical user interface. The purpose of this software package is to permit the user to teach and execute a sequence of operations that will move a syringe tip along a taught path while simultaneously sending commands to the dual control air dispenser to force out fluid as required. This chapter introduces this software's principal concepts, terminology and features. In additional, each of the web pages and the function of their buttons and fields are described.
In the next chapter, this information is put to use in a series of step-by-step tutorials that illustrate all of the basic operations of the system.
Within the Guidance Dispense software package, a complete dispensing operation is organized into a dispensing "Process" that consists of one or more dispensing "Paths" that in turn consist of one or more dispensing "Nodes".
Using a simple web-based control panel, an operator can select and execute a taught dispensing Process. A Process consists of a list of Paths that are performed in the sequence in which they are defined within the Process. A Path defines a series of motions that control the position of a syringe tip. The Path includes the specification for how fast the tool tip is to move when dispensing fluid and how high above the start and end of the path the tool tip should be moved to start and end the motion sequence.
A Path can be automatically repeated with its positions offset in X, Y, and Z. For example, a Path can be automatically repeated at every position within an two dimensional array of parts.
Each syringe tip position within a Path is defined by a Node. A Node contains both the syringe tip position as well as data specifying whether fluid should be dispensed while moving to this position. A Path can contain thousands of Nodes if needed.
The names of Processes, Paths and Nodes can consists of 1 to 43 characters. Names must start with an alphabetic character or "_" and cannot be a single "_". The first character can be followed by any combination of alphanumeric characters (a-z,A-Z,0-9) and "_". Names cannot contain space characters (" "). Upper and lower case letters are considered different so names are case sensitive.
When a Process is being executed, the data for the Process, its Paths and its Nodes are contained in the robot controller's memory. To permanently retain this information, a copy of this data is stored in files in the flash disk. The Guidance Dispense application automatically loads the required data files into the controller's memory when a Process or Path is accessed for editing or execution.
To create and run a complete dispensing operation, you must first teach a series of Nodes to generate a Path. Then you define the sequence in which the Paths are to be performed by specifying their order within a Process. Finally, you execute the Process.