[626] SpotWare Servo Plus
Product Specification RobotWare Options for BaseWare OS 4.0 49
[626] SpotWare Servo Plus
The SpotWare Servo Plus package provides support for sequential welding with one
or several servo gun equipments, as the SpotWare Servo package, but also welding
with two servo guns at the same time.
SpotWare Servo Plus features
The SpotWare Servo Plus package contains the same features as SpotWareServo
but with following feature in addition:
- Possibility to weld with two servo guns at the same time.
Principles of SpotWare Servo Plus
As in 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 weld processes and supervision will continue until they
come to a well defined process stop. For example, the welding processes will carry on
and finish the weld and open the guns, although the program has been stopped during
the weld phase.
Programming principles
Both the robot movement and the control of the spot weld equipments are embedded
in the basic spot weld instructions. SpotL and SpotJ are used for sequential welding.
With SpotML or SpotMJ it is possible to weld with several guns simultaneously.
Each 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.
Spot welding instructions
The SpotWare Servo Plus package contains the same instructions as SpotWareServo
plus following instructions in addition:
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