ABB IRB 2000 - Page 28

In-pos check (if option 481, MH/GL/SW is selected)
Used together with soft servo. A conditional jump may be performed as a result of a
permitted deviation from the programmed position.
SWI (if option 481, MH/GL/SW is selected)
SWI (Spot Welding Interface) is a soft ware function for control of an external
welding timer. The SWI-instruction contains weld program number and if
required, a register for the opening time of the gun. It is not necessary to have
special subprograms, which makes it very easy to program the robot and optimise
the program. Further information is given in chapter 12 in the "Programming
Manual S3", art.no. 3HAB 0002-2.
Arc weld - AW (if option 482, MH/GL/SW is selected)
Positioning forward to the point for weld data change and call of data for the weld
start procedure and/or weld procedure is programmed with the WELD-instruction.
Positioning forward to the point for weld end and call of data for the weld and
procedure are programmed with the WEND-instruction.
A positioning and call of a robot subprogram which is to contain instructions for the
pattern cleaning procedure are programmed with the CLEAN-instruction.
All of the necessary welding data is managed by the robot system.
The welding data has been separated into the following categories to make the system
flexible and easily handled.
START DATA
MAIN DATA
END DATA
WEAVE DATA
SENSOR DATA
Ten optional data fields can be defined simultaneously for each of these types.
The system is provided with integrated supervision of current, gas flow and water
cooling. The welding equipment is assumed to be provided with sensors which give
status information to the robot system via inputs reserved for this purpose.
• Control of external positioner
With an Arc weld robot non-servo positioners can be run through ports 70 and 80.
This is carried out through a digital communication sequence in two steps.
• Control of two positioners with a common drive unit.
With a Arc weld robot several servo driven external axes can be connected to a
common drive unit.
• Arc weld instruction with integrated contour following.
• Weaving patterns are zig-zag, V-shaped, triangular and wrist weaving.
Control and logical functions
• Program handling:
- Call for subprograms:
direct call;
- indirect call via numerical registers.
- Return
- Program loading from floppy disk:
replacement of complete program block;
addition/replacement of program sections.
- Request for superior computer control.
Description IBB 2000
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