[625] SpotWare Servo
Product Specification RobotWare Options for BaseWare OS 4.0 47
- Fast switch between two servo guns with a tool changer. Note
: This feature
requires the Servo Tool Change option.
Principles of SpotWare Servo
The SpotWare functions will be controlled by separate internal program processes,
which will run in parallel. For instance the robot movements, the continuous
supervision and the spotwelding will be handled in different independent processes.
This means that if for instance the program execution and thus the robot movements is
stopped, then the welding and supervision will continue until they come to a well
defined process stop. For example, the welding process will carry on and finish the
weld and open the gun, although the program has been stopped during the weld phase.
For well defined points in the welding sequence and movements, calls to user routines
offer adaptations to the plant environment. A number of predefined parameters are also
available to shape the behaviour of the SpotWare instructions.
Programming principles
Both the robot movement and the control of the spot weld equipment are embedded in
the basic spot weld instructions SpotL and SpotJ.
The spot welding process is specified by:
- Spotdata: spot weld process data
- Gundata: spot weld equipment data
- The system modules SWDEFINE and SWDEFUSR: RAPID routines and
global data for customizing purposes e.g. adaptations for a specific process
equipment.
- The system module SWUSER: RAPID routines and global data for changing
of process and test behaviour.
- System parameters: the I/O Signal configuration and the Manipulator
configuration.
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