[631] Servo Tool Change
Product Specification RobotWare Options for BaseWare OS 4.0 29
[631] Servo Tool Change
Servo Tool Change enables an on-line change of tools (external axes), for a certain drive- and
measurement system. The control is switched between the axes by switching the motor cables
from one servo motor to another. The switch is performed on-line, during production.
The main advantages are:
- Flexibility in the production process
One robot handles several tools
- Minimized equipment
A single drive-measurement system shared by many tools
Features
• On-line change of tools.
• Up to 8 different tools.
Application
Servo gun changing; Robot held servo guns, designed for different reach and weld
forces, equipped with different brands and sizes of servo motors, may be held and
operated by a robot, switching from one servo gun to another.
Servo Tool Change can be used as an independent option, or as an addition to the
SpotWare Servo or Servo Toool Control options.
Requirements
Servo Tool Change requires a mechanical wrist interface, a Tool Changer.
A MOC service parameter, Disconnect deactive = YES (Types: Measurement
channel), must be set for each tool (external axis) used with this function.
Performance
When switching tools, the following steps are performed (switching from Axis 1 to
Axis 2):
- Axis 1 is deactivated using the RAPID instruction DeactUnit.
- Axis 1 is disconnected from the motor cables.
- Axis 2 is connected to the motor cables.
- Axis 2 is activated using RAPID instruction ActUnit.
After activation, Axis 2 is ready to run.
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