5.2.4.21
MODPOS
Description
The operator is asked if the position should be modefied or not.
Menu
MODPOS
Default value
Not defined
5.2.4.22
HP MODE
Description
The parameter RP MODE specifies the working mode of the instruction STORE
POSITION in the IRB 2000 AW software. Two different modes can be specified for position
storage:
Compensation for a parallel displacement, caused by an active
reference point, is made to the current robot position. If a reference
point is not active, the current robot position only is stored (def. = 0).
The current robot position is always stored. Compensation for a parallel
displacement, caused by an active reference point, is not added to the position
(def. = 1).
Menu
AUTO+ RP MODE
Guide text
REFERENCE POINT MODE =
Def. range
0 = Storage of current robot position compensated for parallel displacement
caused by an active reference point.
1 = Storage of current robot position only.
Default value
0, storage of parallel displaced robot position if reference point is activated.
5.2.4.23
AW REST
Description
The function AW REST facilitates restarting of the welding process after an
interruption. To make the welding seam as good as possible, the robot is moved to
an optional position which it had 0 - 0.45 seconds before the interruption. Then
the welding process is restarted with the same welding parameters as were used
before the interruption.
Menu
AUTO + AW REST
Guide text
AW RESTART TIME (s) =
INSTALLATION
5:48
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