[561] Servo Tool Control
Product Specification RobotWare Options for BaseWare OS 4.0 27
[561] Servo Tool Control
The Servo Tool Control is a general and flexible software platform for controlling an
integrated servo tool from S4CPlus. For additional features, like control of external
processes, or control of several ServoGuns in parallel, please refer to the option
SpotWare Servo.
Target users are advanced system integrators who want to develop customer specific
application software, such as spotwelding packages.
As a “quick-start”, the option includes an example code package. This package can be
used as a base for application development.
Features
• Position control (gap).
• Force control.
• Dynamic and kinematic model (tool configured as external axis).
• Example code package.
Application
Spot Welding with Servo Guns: The option provides advanced control functionality for
Servo Guns. Communication with Weld timers and other process control functionality
needs to be implemented outside this option. For a total spot welding package, please
refer to the option SpotWare Servo.
Performance
The tool is configured as an external axis, which ensures optimal performance,
regarding path following and speed. (Dynamic and kinematic model.)
The option Servo Tool Change can be added to the system in order to allow a switch
between two or more servo tool, which will then utilize the same drive unit and
measurement board.
Requirements
• Motion parameter file
A specific servo tool parameter file has to be installed in the controller, for each
servo tool. The parameter file is optimized for each system, concerning system
behaviour and motion/process performance.
• Drive Module & Measurement board
See User’s Guide External Axes.
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