[552] ArcWare Plus
40 Product Specification RobotWare Options for BaseWare OS 4.0
[552] ArcWare Plus
ArcWare Plus contains the following functionality:
- ArcWare, see previous chapter.
- Arc data monitoring.
Arc data monitoring with adapted RAPID instructions for process supervision.
The function predicts weld errors.
- Contour tracking during welding.
Path corrections during welding, i.e. when executing ArcL or ArcC
instructions, can be made relative to the path using external sensors like Serial
Weld Guide or Laser Track. Such corrections will take effect immediately, also
during movement between two positions. The correction data are sent from the
sensor system to the controller using a serial link and will automatically affect
the path through built in functionality.
Please note, that this option is compulsory for Serial Weld Guide systems
(AWC) or Laser Track systems (M-Spot 90).
- Contour tracking in normal movements (path corrections)
Path corrections can also be activated when running normal movements like
MoveL using specific RAPID path correction instructions.
This functionality is also a part of option Advanced Motion, see this option for
more information.
- Adaptive process control for e.g. sensors like LaserTrak and Serial Weld Guide
systems. The sensor can for instance provide the robot system with changes in
the shape of the seam. These values can then be used to adapt the process
parameters, like voltage or wire feed, to the current shape. (See option Sensor
Interface for more information)
RAPID instructions and functions included in this option
CorrCon Activating path correction
CorrWrite Changing path correction
CorrRead Read current path correction
CorrDiscon Deactivating path correction
CorrClear Removes all correction generators
SpcCon Activates statistical process supervision
SpcWrite Provides the controller with values for statistical process super-
vision
SpcDump Dumps statistical process supervision data to a file or on a
serial channel
SpcRead Reads statistical process supervision information
SpcDiscon Deactivates statistical process supervision
IVarValue Orders a variable interrupt
ReadBlock Read a block of data from the sensor device
ReadVar Read a variable from the sensor device
WriteBlock Write a block of data to the sensor device
WriteVar Write a variable to the sensor device
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