[530] Advanced Functions
16 Product Specification RobotWare Options for BaseWare OS 4.0
World Zones
A spherical, cylindrical or cubical volume can be defined within the working space.
When the robot reaches this volume it will either set an output or stop with the error
message “Outside working range”, both during program execution and when the robot
is jogged into this area. The areas, which are defined in the world coordinate system,
can be automatically activated at start-up or activated/deactivated from within the
program.
Examples of applications:
- A volume is defining the home position of the robot.
When the robot is started from a PLC, the PLC will check that the robot is
inside the home volume, i.e. the corresponding output is set.
- The volume is defining where peripheral equipment is located within the
working space of the robot.
This ensures that the robot cannot be moved into this volume.
- A robot is working inside a box.
By defining the outside of the box as a forbidden area, the robot cannot run into
the walls of the box.
- Handshaking between two robots both working in the same working space.
When one of the robots enters the common working space, it sets an output and
after that enters only when the corresponding output from the other robot is
reset.
Movements in interrupt routines and error handlers
This function makes it possible to temporarily interrupt a movement which is in
progress and then start a new movement which is independent of the first one. The
robot stores information about the original movement path which allows it to be
resumed later.
Examples of applications:
- Cleaning the welding gun when a welding fault occurs. When a welding fault
occurs, there is normally a jump to the program’s error handler. The welding
movement in progress can be stored and the robot is ordered to the cleaning
position so that the nozzle can be cleaned. The welding process can then be
restarted, with the correct parameters, at the position where the welding fault
occurred. This is all automatic, without any need to call the operator. (This
requires options ArcWare or ArcWare Plus.)
- Via an input, the robot can be ordered to interrupt program execution and go to
a service position, for example. When program execution is later restarted
(manually or automatically) the robot resumes the interrupted movement.
Cross-connections with logical conditions
Logical conditions for digital input and output signals can be defined in the robot’s
system parameters using AND, OR and NOT. Functionality similar to that of a PLC
can be obtained in this way.
To Next Page
Loading...
