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New parts dialog
Description
Default value
This is the procedure that will be called during production. It typically
contains process instructions such as ArcL , SpotL . A default name
is suggested when creating new partdata .
Part name
Select the field to change the suggested name by typing a new name
in the alpha pad.
A custom string that describes the part.
Description
These are the tasks this part should be declared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is selected it means that these tasks will be ex-
ecuted simultaneous.
![Image]
xx1400002355
This field cannot be edited. It indicates if the Part name and partdata
instance name are valid in all tasks in the task list.
Procedure valid
Select the stations this part will be valid on.
![Image]
xx1400002356
Valid on stations
The name of the partdata instance in RAPID.
Partdata instance
Select the module where the data and the part procedure will be de-
clared. It is possible to create a new module for the part.
Declared in module
If a task list is used, the module will be created in all tasks in the task
list if it does not already exist, and the partdata and procedure will
be placed in this module.
Note: Only normal program modules will be visible in the list.
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2.5.2 Create a new part
Continued
Description
Default value
Connect an advanced part to this part. See Example 1, advanced part
on page 16 .
Advanced part
Create a new dynamic part
1
In the Production Manager main menu select Part handling .
2
Tap New .
![Image]
xx1400002354
3
Select Part name in list and tap ABC… .
![Image]
xx1400002357
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2.5.2 Create a new part
Continued
4
Enter the path to the module and procedure name separated with @. If module
does not exist, it will be created.
![Image]
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5
Or
Select Part name in list and tap Browse… .
![Image]
xx1400002359
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Description
Default value
Connect an advanced part to this part. See Example 1, advanced part
on page 16 .
Advanced part
Create a new dynamic part
1
In the Production Manager main menu select Part handling .
2
Tap New .
![Image]
xx1400002354
3
Select Part name in list and tap ABC… .
![Image]
xx1400002357
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2.5.2 Create a new part
Continued
4
Enter the path to the module and procedure name separated with @. If module
does not exist, it will be created.
![Image]
xx1400002358
5
Or
Select Part name in list and tap Browse… .
![Image]
xx1400002359
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2.5.2 Create a new part
Continued
6
Tap the button ... to browse for module.
![Image]
xx1400002360
7
Select module.
![Image]
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2.5.2 Create a new part
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4
Enter the path to the module and procedure name separated with @. If module
does not exist, it will be created.
![Image]
xx1400002358
5
Or
Select Part name in list and tap Browse… .
![Image]
xx1400002359
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2.5.2 Create a new part
Continued
6
Tap the button ... to browse for module.
![Image]
xx1400002360
7
Select module.
![Image]
xx1400002361
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2.5.2 Create a new part
Continued
8
Select procedure and tap OK .
![Image]
xx1400002362
9
If part is synchronized in several tasks, select task in list and repeat step 4
or step 5 to 8 .
![Image]
xx1400002363
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6
Tap the button ... to browse for module.
![Image]
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7
Select module.
![Image]
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2.5.2 Create a new part
Continued
8
Select procedure and tap OK .
![Image]
xx1400002362
9
If part is synchronized in several tasks, select task in list and repeat step 4
or step 5 to 8 .
![Image]
xx1400002363
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2 Production Manager user interface
2.5.2 Create a new part
Continued
2.5.3 Edit part
1
In the Production Manager main menu select Part handling .
2
Select a part to edit and tap OK .
3
Tap Edit and select Change Value .
![Image]
xx1400002364
4
The Edit part dialog has a number of fields to enter. See Edit partdata dialog
on page 48 .
The user interface will help the user to create a new partdata instance
together with the actual part procedure to be called during production.
Some of the fields in the dialog are loaded with default values and are not
possible to edit.
![Image]
xx1400002365
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2.5.3 Edit part
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8
Select procedure and tap OK .
![Image]
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9
If part is synchronized in several tasks, select task in list and repeat step 4
or step 5 to 8 .
![Image]
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2 Production Manager user interface
2.5.2 Create a new part
Continued
2.5.3 Edit part
1
In the Production Manager main menu select Part handling .
2
Select a part to edit and tap OK .
3
Tap Edit and select Change Value .
![Image]
xx1400002364
4
The Edit part dialog has a number of fields to enter. See Edit partdata dialog
on page 48 .
The user interface will help the user to create a new partdata instance
together with the actual part procedure to be called during production.
Some of the fields in the dialog are loaded with default values and are not
possible to edit.
![Image]
xx1400002365
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2.5.3 Edit part
Edit partdata dialog
Description
Default value
This is the procedure that will be called during production. It is not
possible to specify a new part name, only select from an already ex-
isting part.
Part name
Use the dropdown list to search for procedures in another module.
![Image]
xx1400002366
A custom string that describes the part.
Description
These are the tasks this part should be declared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is selected, it means that these tasks will be
executed simultaneous.
This field cannot be edited. It indicates if the Part name and partdata
instance name are valid in all tasks in the task list.
Procedure valid
Select the stations this part will be valid on.
![Image]
xx1400002356
Valid on stations
The name of the partdata instance in RAPID. This field is not pos-
sible to edit.
Partdata instance
The module where the data and the part procedure is declared. This
field is not possible to edit.
Declared in module
Connect an advanced part to this part. See Example 1, advanced part
on page 16 .
Advanced part
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2.5.3 Edit part
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2.5.3 Edit part
1
In the Production Manager main menu select Part handling .
2
Select a part to edit and tap OK .
3
Tap Edit and select Change Value .
![Image]
xx1400002364
4
The Edit part dialog has a number of fields to enter. See Edit partdata dialog
on page 48 .
The user interface will help the user to create a new partdata instance
together with the actual part procedure to be called during production.
Some of the fields in the dialog are loaded with default values and are not
possible to edit.
![Image]
xx1400002365
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2.5.3 Edit part
Edit partdata dialog
Description
Default value
This is the procedure that will be called during production. It is not
possible to specify a new part name, only select from an already ex-
isting part.
Part name
Use the dropdown list to search for procedures in another module.
![Image]
xx1400002366
A custom string that describes the part.
Description
These are the tasks this part should be declared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is selected, it means that these tasks will be
executed simultaneous.
This field cannot be edited. It indicates if the Part name and partdata
instance name are valid in all tasks in the task list.
Procedure valid
Select the stations this part will be valid on.
![Image]
xx1400002356
Valid on stations
The name of the partdata instance in RAPID. This field is not pos-
sible to edit.
Partdata instance
The module where the data and the part procedure is declared. This
field is not possible to edit.
Declared in module
Connect an advanced part to this part. See Example 1, advanced part
on page 16 .
Advanced part
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2.5.3 Edit part
Continued
2.5.4 Test Part
The part testing functionality provides a way to test your parts without having to
run the full production environment.
•
No events in the production loop will be executed, thus it is useful to create
custom service menus in the Production Manager to control the clamping
etc, before and after running a test part.
•
The part is only allowed to be tested at its valid station(s).
•
Test Part is only allowed to run in manual mode.
Starting Test Part
1
Select a part in the table and tap Test Part .
![Image]
xx1400002367
Note
The execution state must be in running mode to test the part.
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Edit partdata dialog
Description
Default value
This is the procedure that will be called during production. It is not
possible to specify a new part name, only select from an already ex-
isting part.
Part name
Use the dropdown list to search for procedures in another module.
![Image]
xx1400002366
A custom string that describes the part.
Description
These are the tasks this part should be declared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is selected, it means that these tasks will be
executed simultaneous.
This field cannot be edited. It indicates if the Part name and partdata
instance name are valid in all tasks in the task list.
Procedure valid
Select the stations this part will be valid on.
![Image]
xx1400002356
Valid on stations
The name of the partdata instance in RAPID. This field is not pos-
sible to edit.
Partdata instance
The module where the data and the part procedure is declared. This
field is not possible to edit.
Declared in module
Connect an advanced part to this part. See Example 1, advanced part
on page 16 .
Advanced part
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2 Production Manager user interface
2.5.3 Edit part
Continued
2.5.4 Test Part
The part testing functionality provides a way to test your parts without having to
run the full production environment.
•
No events in the production loop will be executed, thus it is useful to create
custom service menus in the Production Manager to control the clamping
etc, before and after running a test part.
•
The part is only allowed to be tested at its valid station(s).
•
Test Part is only allowed to run in manual mode.
Starting Test Part
1
Select a part in the table and tap Test Part .
![Image]
xx1400002367
Note
The execution state must be in running mode to test the part.
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2.5.4 Test Part
2.6 Custom application window
Launch application
If the system is loaded and configured with, for example, Production Screen, the
application can be launched from the Production Manager desktop by clicking on
the application icon to the right.
The application will be launched as a separate FlexPendant application outside
Production Manager.
![Image]
xx1400002332
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2.6 Custom application window
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2.5.4 Test Part
The part testing functionality provides a way to test your parts without having to
run the full production environment.
•
No events in the production loop will be executed, thus it is useful to create
custom service menus in the Production Manager to control the clamping
etc, before and after running a test part.
•
The part is only allowed to be tested at its valid station(s).
•
Test Part is only allowed to run in manual mode.
Starting Test Part
1
Select a part in the table and tap Test Part .
![Image]
xx1400002367
Note
The execution state must be in running mode to test the part.
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2.5.4 Test Part
2.6 Custom application window
Launch application
If the system is loaded and configured with, for example, Production Screen, the
application can be launched from the Production Manager desktop by clicking on
the application icon to the right.
The application will be launched as a separate FlexPendant application outside
Production Manager.
![Image]
xx1400002332
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2.6 Custom application window
2.7 State icons
Overview
The Production Manager user interface uses state icons in order to display the
state of the execution engine. Four different states are available.
States
Description
State/Icon
No icon when the execution engine is running. This is the normal
state.
Running
The task has stopped.
Stopped
![Image]
xx1400002369
The task is producing a part or running a menu.
Busy
![Image]
xx1400002370
The task is blocked by another task currently running a Setup or
Service menu. See Menudata on page 15 .
Blocked
![Image]
xx1400002371
Location of state icons
The state icons are located at each tab.
![Image]
xx1400002372
Note
Only normal tasks are visible as tabs in the user interface.
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2.6 Custom application window
Launch application
If the system is loaded and configured with, for example, Production Screen, the
application can be launched from the Production Manager desktop by clicking on
the application icon to the right.
The application will be launched as a separate FlexPendant application outside
Production Manager.
![Image]
xx1400002332
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2 Production Manager user interface
2.6 Custom application window
2.7 State icons
Overview
The Production Manager user interface uses state icons in order to display the
state of the execution engine. Four different states are available.
States
Description
State/Icon
No icon when the execution engine is running. This is the normal
state.
Running
The task has stopped.
Stopped
![Image]
xx1400002369
The task is producing a part or running a menu.
Busy
![Image]
xx1400002370
The task is blocked by another task currently running a Setup or
Service menu. See Menudata on page 15 .
Blocked
![Image]
xx1400002371
Location of state icons
The state icons are located at each tab.
![Image]
xx1400002372
Note
Only normal tasks are visible as tabs in the user interface.
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2.7 State icons
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2.7 State icons
Overview
The Production Manager user interface uses state icons in order to display the
state of the execution engine. Four different states are available.
States
Description
State/Icon
No icon when the execution engine is running. This is the normal
state.
Running
The task has stopped.
Stopped
![Image]
xx1400002369
The task is producing a part or running a menu.
Busy
![Image]
xx1400002370
The task is blocked by another task currently running a Setup or
Service menu. See Menudata on page 15 .
Blocked
![Image]
xx1400002371
Location of state icons
The state icons are located at each tab.
![Image]
xx1400002372
Note
Only normal tasks are visible as tabs in the user interface.
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2.7 State icons
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Overview
In Production Manager Task configuration it is possible to specify the look and
feel of the Production Manager user interface.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
Enter the name that should appear on the select in Production
Manager.
Tab text name
Specify the select order for the task. If the select index is not entered
the selects can be added in an arbitrary order.
Tab index
If Yes, the Production Information icon will be hidden.
Hide Production Info
If Yes, the Part Handler icon will be hidden.
Hide Part Handler
![Image]
xx1400002373
Production Manager Process Settings
Production Manager Process Settings specifies the application to be launched
from Production Manager.
Description
System parameter
Name of the task for witch the configuration is valid for
Task name
The name of the dll to launch.
FlexPendant app dll
The namespace of the dll to launch.
FlexPendant app
namespace
The class name of the dll to launch.
FlexPendant app
class name
The name of the icon that will be displayed on Production Manager's
desktop.
Button-up image
The name of the icon that will be displayed on Production Manager's
desktop.
Button-down image
The name of the application. This name will be displayed on Produc-
tion Manager's desktop.
Application name
![Image]
xx1400002374
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3 Configuring Production Manager
3.1 Production Manager Task configuration
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Overview
In Production Manager Task configuration it is possible to specify the look and
feel of the Production Manager user interface.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
Enter the name that should appear on the select in Production
Manager.
Tab text name
Specify the select order for the task. If the select index is not entered
the selects can be added in an arbitrary order.
Tab index
If Yes, the Production Information icon will be hidden.
Hide Production Info
If Yes, the Part Handler icon will be hidden.
Hide Part Handler
![Image]
xx1400002373
Production Manager Process Settings
Production Manager Process Settings specifies the application to be launched
from Production Manager.
Description
System parameter
Name of the task for witch the configuration is valid for
Task name
The name of the dll to launch.
FlexPendant app dll
The namespace of the dll to launch.
FlexPendant app
namespace
The class name of the dll to launch.
FlexPendant app
class name
The name of the icon that will be displayed on Production Manager's
desktop.
Button-up image
The name of the icon that will be displayed on Production Manager's
desktop.
Button-down image
The name of the application. This name will be displayed on Produc-
tion Manager's desktop.
Application name
![Image]
xx1400002374
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3 Configuring Production Manager
3.1 Production Manager Task configuration
![Image]
xx1400002375
Production Manager API State
Production Manager API State specifies the signals for tasks state.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
The input signal name that specifies that the task is/is at safe. When
this signal is high, it is considered safe to run execution of specific
tasks.
At-Safe DI
The input signal name that specifies that the task is at service. When
this signal is high, it is considered safe to run execution of specific
tasks.
At-Service DI
Digital output signal specifying that Prod Mgr task is running.
Running out signal
Digital output signal specifying that Prod Mgr task is ready for new
order.
Ready out signal
Group output signal for error codes. If not configured, the error code
will be mirrored to the PLC group output signal instead. PLC
codes<=99 can be used if configured.
Error group out signal
If defined this signal will go high when error occurs.
Error strobe out signal
When set high, this signal will reset the error group output signal
and strobe. If no ack is used, the error code will remain on the error
group output signal (if defined).
Error ack in signal
![Image]
xx1400002376
In the example above, the positioner task T_POS1 is configured safe when all robot
tasks, T_ROB1 T_ROB2 T_ROB3 , are safe with cross connections. The same
applies for service.
Production Manager API Commands
Production Manager API Commands specifies the signal interface for executing
part and knowledge of at which station a task/robot is at and next station to go
when order to run part is given.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
Input signal for running a part. Works on both PLC and Operator
Ready interface.
Run part in signal
Input signal for running a menu. Designed to use with PLC interface
(PLC code required on menudata )
Run menu in signal
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3.1 Production Manager Task configuration
Continued
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Overview
In Production Manager Task configuration it is possible to specify the look and
feel of the Production Manager user interface.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
Enter the name that should appear on the select in Production
Manager.
Tab text name
Specify the select order for the task. If the select index is not entered
the selects can be added in an arbitrary order.
Tab index
If Yes, the Production Information icon will be hidden.
Hide Production Info
If Yes, the Part Handler icon will be hidden.
Hide Part Handler
![Image]
xx1400002373
Production Manager Process Settings
Production Manager Process Settings specifies the application to be launched
from Production Manager.
Description
System parameter
Name of the task for witch the configuration is valid for
Task name
The name of the dll to launch.
FlexPendant app dll
The namespace of the dll to launch.
FlexPendant app
namespace
The class name of the dll to launch.
FlexPendant app
class name
The name of the icon that will be displayed on Production Manager's
desktop.
Button-up image
The name of the icon that will be displayed on Production Manager's
desktop.
Button-down image
The name of the application. This name will be displayed on Produc-
tion Manager's desktop.
Application name
![Image]
xx1400002374
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3 Configuring Production Manager
3.1 Production Manager Task configuration
![Image]
xx1400002375
Production Manager API State
Production Manager API State specifies the signals for tasks state.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
The input signal name that specifies that the task is/is at safe. When
this signal is high, it is considered safe to run execution of specific
tasks.
At-Safe DI
The input signal name that specifies that the task is at service. When
this signal is high, it is considered safe to run execution of specific
tasks.
At-Service DI
Digital output signal specifying that Prod Mgr task is running.
Running out signal
Digital output signal specifying that Prod Mgr task is ready for new
order.
Ready out signal
Group output signal for error codes. If not configured, the error code
will be mirrored to the PLC group output signal instead. PLC
codes<=99 can be used if configured.
Error group out signal
If defined this signal will go high when error occurs.
Error strobe out signal
When set high, this signal will reset the error group output signal
and strobe. If no ack is used, the error code will remain on the error
group output signal (if defined).
Error ack in signal
![Image]
xx1400002376
In the example above, the positioner task T_POS1 is configured safe when all robot
tasks, T_ROB1 T_ROB2 T_ROB3 , are safe with cross connections. The same
applies for service.
Production Manager API Commands
Production Manager API Commands specifies the signal interface for executing
part and knowledge of at which station a task/robot is at and next station to go
when order to run part is given.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
Input signal for running a part. Works on both PLC and Operator
Ready interface.
Run part in signal
Input signal for running a menu. Designed to use with PLC interface
(PLC code required on menudata )
Run menu in signal
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Continued
Description
System parameter
Acknowledge signal used for handshake.
Run ack signal
Defines the timeout when waiting for the run part or run menu signal
to go low.
Run ack timeout
Group input signal that defines the PLC order.
PLC group in signal
Flag for allowing 0 value for PLC. If set, search for partdata with
value 0 for PLC is done. Only used if PLC group in is configured.
Allow 0 value for PLC
Group output signal that confirms the PLC order. Also works as error
code if an error occurs in Production Manager if no separate error
signals are defined in Production Manager API State .
PLC group out signal
Flag for specifying if PLC should be reset after part go signal. TRUE
means no reset of PLC out signal. Default value is FALSE.
No reset of PLC out
signal
Input signal that specifies that robot/task is at station 1.
At station 1 insignal
Input signal that specifies that robot/task is at station 2.
At station 2 insignal
Input signal that specifies that robot/task is at station 3.
At station 3 insignal
Input signal that specifies that robot/task is at station 4.
At station 4 insignal
Input signal that specifies that robot/task is at station 5.
At station 5 insignal
Input signal that specifies that robot/task is at station 6.
At station 6 insignal
Input signal that specifies that robot/task is at station 7.
At station 7 insignal
Input signal that specifies that robot/task is at station 8.
At station 8 insignal
Input signal that specifies next station 1 for robot/task.
Station 1 next insignal
Input signal that specifies next station 2 for robot/task.
Station 2 next insignal
Input signal that specifies next station 3 for robot/task.
Station 3 next insignal
Input signal that specifies next station 4 for robot/task.
Station 4 next insignal
Input signal that specifies next station 5 for robot/task.
Station 5 next insignal
Input signal that specifies next station 6 for robot/task.
Station 6 next insignal
Input signal that specifies next station 7 for robot/task.
Station 7 next insignal
Input signal that specifies next station 8 for robot/task.
Station 8 next insignal
Flag for check if part is finished.
Check aborted part
![Image]
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3.1 Production Manager Task configuration
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![Image]
xx1400002375
Production Manager API State
Production Manager API State specifies the signals for tasks state.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
The input signal name that specifies that the task is/is at safe. When
this signal is high, it is considered safe to run execution of specific
tasks.
At-Safe DI
The input signal name that specifies that the task is at service. When
this signal is high, it is considered safe to run execution of specific
tasks.
At-Service DI
Digital output signal specifying that Prod Mgr task is running.
Running out signal
Digital output signal specifying that Prod Mgr task is ready for new
order.
Ready out signal
Group output signal for error codes. If not configured, the error code
will be mirrored to the PLC group output signal instead. PLC
codes<=99 can be used if configured.
Error group out signal
If defined this signal will go high when error occurs.
Error strobe out signal
When set high, this signal will reset the error group output signal
and strobe. If no ack is used, the error code will remain on the error
group output signal (if defined).
Error ack in signal
![Image]
xx1400002376
In the example above, the positioner task T_POS1 is configured safe when all robot
tasks, T_ROB1 T_ROB2 T_ROB3 , are safe with cross connections. The same
applies for service.
Production Manager API Commands
Production Manager API Commands specifies the signal interface for executing
part and knowledge of at which station a task/robot is at and next station to go
when order to run part is given.
Description
System parameter
Name of the task for witch the configuration is valid for.
Task name
Input signal for running a part. Works on both PLC and Operator
Ready interface.
Run part in signal
Input signal for running a menu. Designed to use with PLC interface
(PLC code required on menudata )
Run menu in signal
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Continued
Description
System parameter
Acknowledge signal used for handshake.
Run ack signal
Defines the timeout when waiting for the run part or run menu signal
to go low.
Run ack timeout
Group input signal that defines the PLC order.
PLC group in signal
Flag for allowing 0 value for PLC. If set, search for partdata with
value 0 for PLC is done. Only used if PLC group in is configured.
Allow 0 value for PLC
Group output signal that confirms the PLC order. Also works as error
code if an error occurs in Production Manager if no separate error
signals are defined in Production Manager API State .
PLC group out signal
Flag for specifying if PLC should be reset after part go signal. TRUE
means no reset of PLC out signal. Default value is FALSE.
No reset of PLC out
signal
Input signal that specifies that robot/task is at station 1.
At station 1 insignal
Input signal that specifies that robot/task is at station 2.
At station 2 insignal
Input signal that specifies that robot/task is at station 3.
At station 3 insignal
Input signal that specifies that robot/task is at station 4.
At station 4 insignal
Input signal that specifies that robot/task is at station 5.
At station 5 insignal
Input signal that specifies that robot/task is at station 6.
At station 6 insignal
Input signal that specifies that robot/task is at station 7.
At station 7 insignal
Input signal that specifies that robot/task is at station 8.
At station 8 insignal
Input signal that specifies next station 1 for robot/task.
Station 1 next insignal
Input signal that specifies next station 2 for robot/task.
Station 2 next insignal
Input signal that specifies next station 3 for robot/task.
Station 3 next insignal
Input signal that specifies next station 4 for robot/task.
Station 4 next insignal
Input signal that specifies next station 5 for robot/task.
Station 5 next insignal
Input signal that specifies next station 6 for robot/task.
Station 6 next insignal
Input signal that specifies next station 7 for robot/task.
Station 7 next insignal
Input signal that specifies next station 8 for robot/task.
Station 8 next insignal
Flag for check if part is finished.
Check aborted part
![Image]
xx1400002377
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55
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Continued
Using signals from EPS
When using Electronic Position Switches (EPS) it is possible to setup signals so
that Production Manager knows in which station the robot is and where the next
station is.
xx0700000442
The below example is what needs to be added in the EIO.cfg for a setup with two
positioners that are not indexing.
-Res "siGap_AtStn_1" -Act1 "PSC1MAR1"
-Res "siGap_AtStn_2" -Act1 "PSC1MAR2"
For more information about EPS, see Application manual - Electronic Position
Switches .
Production Manager Current Part
Production Manager Current Part specifies the executing part and station for a
robot/task.
Description
System parameter
Name of the task for which the configuration is valid for.
Task name
Name of executing partdata instance.
Instance name
Executing station robot/task.
Station
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Description
System parameter
Acknowledge signal used for handshake.
Run ack signal
Defines the timeout when waiting for the run part or run menu signal
to go low.
Run ack timeout
Group input signal that defines the PLC order.
PLC group in signal
Flag for allowing 0 value for PLC. If set, search for partdata with
value 0 for PLC is done. Only used if PLC group in is configured.
Allow 0 value for PLC
Group output signal that confirms the PLC order. Also works as error
code if an error occurs in Production Manager if no separate error
signals are defined in Production Manager API State .
PLC group out signal
Flag for specifying if PLC should be reset after part go signal. TRUE
means no reset of PLC out signal. Default value is FALSE.
No reset of PLC out
signal
Input signal that specifies that robot/task is at station 1.
At station 1 insignal
Input signal that specifies that robot/task is at station 2.
At station 2 insignal
Input signal that specifies that robot/task is at station 3.
At station 3 insignal
Input signal that specifies that robot/task is at station 4.
At station 4 insignal
Input signal that specifies that robot/task is at station 5.
At station 5 insignal
Input signal that specifies that robot/task is at station 6.
At station 6 insignal
Input signal that specifies that robot/task is at station 7.
At station 7 insignal
Input signal that specifies that robot/task is at station 8.
At station 8 insignal
Input signal that specifies next station 1 for robot/task.
Station 1 next insignal
Input signal that specifies next station 2 for robot/task.
Station 2 next insignal
Input signal that specifies next station 3 for robot/task.
Station 3 next insignal
Input signal that specifies next station 4 for robot/task.
Station 4 next insignal
Input signal that specifies next station 5 for robot/task.
Station 5 next insignal
Input signal that specifies next station 6 for robot/task.
Station 6 next insignal
Input signal that specifies next station 7 for robot/task.
Station 7 next insignal
Input signal that specifies next station 8 for robot/task.
Station 8 next insignal
Flag for check if part is finished.
Check aborted part
![Image]
xx1400002377
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55
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© Copyright 2014-2021 ABB. All rights reserved.
3 Configuring Production Manager
3.1 Production Manager Task configuration
Continued
Using signals from EPS
When using Electronic Position Switches (EPS) it is possible to setup signals so
that Production Manager knows in which station the robot is and where the next
station is.
xx0700000442
The below example is what needs to be added in the EIO.cfg for a setup with two
positioners that are not indexing.
-Res "siGap_AtStn_1" -Act1 "PSC1MAR1"
-Res "siGap_AtStn_2" -Act1 "PSC1MAR2"
For more information about EPS, see Application manual - Electronic Position
Switches .
Production Manager Current Part
Production Manager Current Part specifies the executing part and station for a
robot/task.
Description
System parameter
Name of the task for which the configuration is valid for.
Task name
Name of executing partdata instance.
Instance name
Executing station robot/task.
Station
56
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3 Configuring Production Manager
3.1 Production Manager Task configuration
Continued
3.2 Production Manager MultiMove Support
General
MultiMove systems are supported by loading the Execution Engine into all motion
tasks. The engines may be triggered to run independently whenever in a ready
state. Simultaneous execution is possible by triggering multiple engines to run
concurrently. A task-list field in menudata and partdata allows the user to
synchronize execution between multiple tasks.
The events in the Execution Engine support MultiMove. The tasks defined in the
TaskList field of the ee_event data will be executed synchronously and the
events will be synchronized. Each synchronized task will wait until all tasks in the
TaskList are ready executing the current event before moving on to the next
event.
How to load Execution Engine
To use Production Manager in tasks other than the robot tasks or positioner tasks
T_POS1/T_POS2, the Execution Engine needs to be loaded in that task and be
configured (see previous chapters).
To load Execution Engine a SYS config file needs to be loaded.
Copy the following configuration and replace <taskname> with actual TASK NAME.
SYS:CFG_1.0:5:0::
# CAB_EXEC_HOOKS:
#
-Routine "GapEE_PwrOnShelf" -Shelf "POWER_ON" –Task "<taskname>"
-Routine "GapEE_QStopShelf" -Shelf "QSTOP" –Task "<taskname>"
-Routine "GapEE_ResetShelf" -Shelf "RESET" –Task "<taskname>"
-Routine "GapEE_RestaShelf" -Shelf "RESTART" –Task "<taskname>"
-Routine "GapEE_StartShelf" -Shelf "START" –Task "<taskname>" -SeqNo
100
-Routine "GapEE_StopShelf" -Shelf "STOP" –Task "<taskname>"
#
CAB_TASK_MODULES:
#
-File "RELEASE:/options/gap/GapCore/Code/GAP_ACCESS.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_SYNC.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EE_EVT.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EE.sys" -Install -Task
"<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EVT.sys" -Install
-Task "<taskname>"
-File "HOME:/GAP_USER.sys" -Task "<taskname>"
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3 Configuring Production Manager
3.2 Production Manager MultiMove Support
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| 57
|
Using signals from EPS
When using Electronic Position Switches (EPS) it is possible to setup signals so
that Production Manager knows in which station the robot is and where the next
station is.
xx0700000442
The below example is what needs to be added in the EIO.cfg for a setup with two
positioners that are not indexing.
-Res "siGap_AtStn_1" -Act1 "PSC1MAR1"
-Res "siGap_AtStn_2" -Act1 "PSC1MAR2"
For more information about EPS, see Application manual - Electronic Position
Switches .
Production Manager Current Part
Production Manager Current Part specifies the executing part and station for a
robot/task.
Description
System parameter
Name of the task for which the configuration is valid for.
Task name
Name of executing partdata instance.
Instance name
Executing station robot/task.
Station
56
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© Copyright 2014-2021 ABB. All rights reserved.
3 Configuring Production Manager
3.1 Production Manager Task configuration
Continued
3.2 Production Manager MultiMove Support
General
MultiMove systems are supported by loading the Execution Engine into all motion
tasks. The engines may be triggered to run independently whenever in a ready
state. Simultaneous execution is possible by triggering multiple engines to run
concurrently. A task-list field in menudata and partdata allows the user to
synchronize execution between multiple tasks.
The events in the Execution Engine support MultiMove. The tasks defined in the
TaskList field of the ee_event data will be executed synchronously and the
events will be synchronized. Each synchronized task will wait until all tasks in the
TaskList are ready executing the current event before moving on to the next
event.
How to load Execution Engine
To use Production Manager in tasks other than the robot tasks or positioner tasks
T_POS1/T_POS2, the Execution Engine needs to be loaded in that task and be
configured (see previous chapters).
To load Execution Engine a SYS config file needs to be loaded.
Copy the following configuration and replace <taskname> with actual TASK NAME.
SYS:CFG_1.0:5:0::
# CAB_EXEC_HOOKS:
#
-Routine "GapEE_PwrOnShelf" -Shelf "POWER_ON" –Task "<taskname>"
-Routine "GapEE_QStopShelf" -Shelf "QSTOP" –Task "<taskname>"
-Routine "GapEE_ResetShelf" -Shelf "RESET" –Task "<taskname>"
-Routine "GapEE_RestaShelf" -Shelf "RESTART" –Task "<taskname>"
-Routine "GapEE_StartShelf" -Shelf "START" –Task "<taskname>" -SeqNo
100
-Routine "GapEE_StopShelf" -Shelf "STOP" –Task "<taskname>"
#
CAB_TASK_MODULES:
#
-File "RELEASE:/options/gap/GapCore/Code/GAP_ACCESS.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_SYNC.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EE_EVT.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EE.sys" -Install -Task
"<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EVT.sys" -Install
-Task "<taskname>"
-File "HOME:/GAP_USER.sys" -Task "<taskname>"
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3 Configuring Production Manager
3.2 Production Manager MultiMove Support
3.3 User Authorization System settings
Defining access levels
Production Manager publishes a set of application grants that can be used to
control the access to different functions within the application. Most application
grants in Production Manager requires some controller grants, i.e activating all
application grants for Production Manager does not automatically give access to
all functionality within Production Manager, see grants table below.
If the logged on user has the controller grant Full Access it overrides all Production
Manager application grants. That is, the application grants will automatically be
true if Full Access is true.
The application grants can be found in the UAS Administration Tool in RobotStudio.
Description
Application Grant
If true, the user is allowed to select parts in stations in the Part
Handling window. Requires the controller grant Modify current
value .
Select Parts
If true, the user is allowed to create, edit and delete parts. Requires
the application grant Select Parts and the controller grant Edit
RAPID code .
Edit Parts
If true, the user is allowed to run Production Manager parts in debug
mode. Requires the controller grant Modify current value and I/O
write access .
Debug Parts
Valid for both setup and service. If true, the user is allowed to create,
edit and delete menus. Requires the controller grant Edit RAPID
code .
Edit Menus
This grant level is connected to the byte minUserLevel field in the
menudata . The logged on user is allowed to run the menu if this
grant is true and the minUserLevel field in the menudata <= Run
Menu User Level . Min value: 0. Max value: 255. Requires the
controller grant Modify current value and I/O write access .
Note
If the controller grant Full Access is true, the Run Menu User Level
grant will be true with value 0.
Run Menu User Level
If this grant is true, the user is allowed to launch Seam Displacement
from the Part Handling window. Requires the controller grant Per-
form ModPos and HotEdit .
Note
Requires the RobotWare Arc option Seam Displacement .
Run Seam Displace-
ment
Example: UAS settings for running menus
In this example the logged on user should be allowed to run the service routine
Move robot to safe position , but not allowed to run the setup menu
Set/Change robot safe position . Start by defining the application grant for
the logged on user's group. In this example we set the threshold value for the Run
Menu User Level to 40, see the following figure.
Continues on next page
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3.3 User Authorization System settings
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3.2 Production Manager MultiMove Support
General
MultiMove systems are supported by loading the Execution Engine into all motion
tasks. The engines may be triggered to run independently whenever in a ready
state. Simultaneous execution is possible by triggering multiple engines to run
concurrently. A task-list field in menudata and partdata allows the user to
synchronize execution between multiple tasks.
The events in the Execution Engine support MultiMove. The tasks defined in the
TaskList field of the ee_event data will be executed synchronously and the
events will be synchronized. Each synchronized task will wait until all tasks in the
TaskList are ready executing the current event before moving on to the next
event.
How to load Execution Engine
To use Production Manager in tasks other than the robot tasks or positioner tasks
T_POS1/T_POS2, the Execution Engine needs to be loaded in that task and be
configured (see previous chapters).
To load Execution Engine a SYS config file needs to be loaded.
Copy the following configuration and replace <taskname> with actual TASK NAME.
SYS:CFG_1.0:5:0::
# CAB_EXEC_HOOKS:
#
-Routine "GapEE_PwrOnShelf" -Shelf "POWER_ON" –Task "<taskname>"
-Routine "GapEE_QStopShelf" -Shelf "QSTOP" –Task "<taskname>"
-Routine "GapEE_ResetShelf" -Shelf "RESET" –Task "<taskname>"
-Routine "GapEE_RestaShelf" -Shelf "RESTART" –Task "<taskname>"
-Routine "GapEE_StartShelf" -Shelf "START" –Task "<taskname>" -SeqNo
100
-Routine "GapEE_StopShelf" -Shelf "STOP" –Task "<taskname>"
#
CAB_TASK_MODULES:
#
-File "RELEASE:/options/gap/GapCore/Code/GAP_ACCESS.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_SYNC.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EE_EVT.sys" -Install
-Task "<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EE.sys" -Install -Task
"<taskname>"
-File "RELEASE:/options/gap/GapCore/Code/GAP_EVT.sys" -Install
-Task "<taskname>"
-File "HOME:/GAP_USER.sys" -Task "<taskname>"
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© Copyright 2014-2021 ABB. All rights reserved.
3 Configuring Production Manager
3.2 Production Manager MultiMove Support
3.3 User Authorization System settings
Defining access levels
Production Manager publishes a set of application grants that can be used to
control the access to different functions within the application. Most application
grants in Production Manager requires some controller grants, i.e activating all
application grants for Production Manager does not automatically give access to
all functionality within Production Manager, see grants table below.
If the logged on user has the controller grant Full Access it overrides all Production
Manager application grants. That is, the application grants will automatically be
true if Full Access is true.
The application grants can be found in the UAS Administration Tool in RobotStudio.
Description
Application Grant
If true, the user is allowed to select parts in stations in the Part
Handling window. Requires the controller grant Modify current
value .
Select Parts
If true, the user is allowed to create, edit and delete parts. Requires
the application grant Select Parts and the controller grant Edit
RAPID code .
Edit Parts
If true, the user is allowed to run Production Manager parts in debug
mode. Requires the controller grant Modify current value and I/O
write access .
Debug Parts
Valid for both setup and service. If true, the user is allowed to create,
edit and delete menus. Requires the controller grant Edit RAPID
code .
Edit Menus
This grant level is connected to the byte minUserLevel field in the
menudata . The logged on user is allowed to run the menu if this
grant is true and the minUserLevel field in the menudata <= Run
Menu User Level . Min value: 0. Max value: 255. Requires the
controller grant Modify current value and I/O write access .
Note
If the controller grant Full Access is true, the Run Menu User Level
grant will be true with value 0.
Run Menu User Level
If this grant is true, the user is allowed to launch Seam Displacement
from the Part Handling window. Requires the controller grant Per-
form ModPos and HotEdit .
Note
Requires the RobotWare Arc option Seam Displacement .
Run Seam Displace-
ment
Example: UAS settings for running menus
In this example the logged on user should be allowed to run the service routine
Move robot to safe position , but not allowed to run the setup menu
Set/Change robot safe position . Start by defining the application grant for
the logged on user's group. In this example we set the threshold value for the Run
Menu User Level to 40, see the following figure.
Continues on next page
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3 Configuring Production Manager
3.3 User Authorization System settings
Now the two different menudata instances must be defined with different values
in the minUserLevel field.
TASK PERS menudata mdRobSafe1:=["Move robot to safe position",
"GapIRB140Icon.gif","CheckSafePos1",255,"",255,TRUE,2,20,FALSE,0];
TASK PERS menudata mdRobSetSafe1:=["Set/Change robot safe position",
"GapIRB140Icon.gif","SetSafePos1",255,"",255,TRUE,1,60,FALSE,0];
The service menu Move robot to safe position has minUserLevel set to
20, that is, below the user's threshold value 40 specified in UAS Administration
Tool, and is therefore allowed to be executed by the user.
The setup menu Set/Change robot safe position has minUserLevel set
to 60, that is, larger than the user's threshold value for the Run Menu User Level
grant, and is therefore not allowed to be executed by the user.
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3.3 User Authorization System settings
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3.3 User Authorization System settings
Defining access levels
Production Manager publishes a set of application grants that can be used to
control the access to different functions within the application. Most application
grants in Production Manager requires some controller grants, i.e activating all
application grants for Production Manager does not automatically give access to
all functionality within Production Manager, see grants table below.
If the logged on user has the controller grant Full Access it overrides all Production
Manager application grants. That is, the application grants will automatically be
true if Full Access is true.
The application grants can be found in the UAS Administration Tool in RobotStudio.
Description
Application Grant
If true, the user is allowed to select parts in stations in the Part
Handling window. Requires the controller grant Modify current
value .
Select Parts
If true, the user is allowed to create, edit and delete parts. Requires
the application grant Select Parts and the controller grant Edit
RAPID code .
Edit Parts
If true, the user is allowed to run Production Manager parts in debug
mode. Requires the controller grant Modify current value and I/O
write access .
Debug Parts
Valid for both setup and service. If true, the user is allowed to create,
edit and delete menus. Requires the controller grant Edit RAPID
code .
Edit Menus
This grant level is connected to the byte minUserLevel field in the
menudata . The logged on user is allowed to run the menu if this
grant is true and the minUserLevel field in the menudata <= Run
Menu User Level . Min value: 0. Max value: 255. Requires the
controller grant Modify current value and I/O write access .
Note
If the controller grant Full Access is true, the Run Menu User Level
grant will be true with value 0.
Run Menu User Level
If this grant is true, the user is allowed to launch Seam Displacement
from the Part Handling window. Requires the controller grant Per-
form ModPos and HotEdit .
Note
Requires the RobotWare Arc option Seam Displacement .
Run Seam Displace-
ment
Example: UAS settings for running menus
In this example the logged on user should be allowed to run the service routine
Move robot to safe position , but not allowed to run the setup menu
Set/Change robot safe position . Start by defining the application grant for
the logged on user's group. In this example we set the threshold value for the Run
Menu User Level to 40, see the following figure.
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3 Configuring Production Manager
3.3 User Authorization System settings
Now the two different menudata instances must be defined with different values
in the minUserLevel field.
TASK PERS menudata mdRobSafe1:=["Move robot to safe position",
"GapIRB140Icon.gif","CheckSafePos1",255,"",255,TRUE,2,20,FALSE,0];
TASK PERS menudata mdRobSetSafe1:=["Set/Change robot safe position",
"GapIRB140Icon.gif","SetSafePos1",255,"",255,TRUE,1,60,FALSE,0];
The service menu Move robot to safe position has minUserLevel set to
20, that is, below the user's threshold value 40 specified in UAS Administration
Tool, and is therefore allowed to be executed by the user.
The setup menu Set/Change robot safe position has minUserLevel set
to 60, that is, larger than the user's threshold value for the Run Menu User Level
grant, and is therefore not allowed to be executed by the user.
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Now the two different menudata instances must be defined with different values
in the minUserLevel field.
TASK PERS menudata mdRobSafe1:=["Move robot to safe position",
"GapIRB140Icon.gif","CheckSafePos1",255,"",255,TRUE,2,20,FALSE,0];
TASK PERS menudata mdRobSetSafe1:=["Set/Change robot safe position",
"GapIRB140Icon.gif","SetSafePos1",255,"",255,TRUE,1,60,FALSE,0];
The service menu Move robot to safe position has minUserLevel set to
20, that is, below the user's threshold value 40 specified in UAS Administration
Tool, and is therefore allowed to be executed by the user.
The setup menu Set/Change robot safe position has minUserLevel set
to 60, that is, larger than the user's threshold value for the Run Menu User Level
grant, and is therefore not allowed to be executed by the user.
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3.3 User Authorization System settings
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
General
Production Manager can be controlled by using a PLC instead of the FlexPendant.
By configuring the signals described in the table below, Production Manager can
react directly on PLC orders used for running parts or menus. When Production
Manager receives a PLC order, it searches the task for a partdata or menudata
instance, depending on the order type, where the PlcCode field matches the value
of the group input signal plc_cmd_group_in .
![Image]
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Description of signals
Description
System parameter
Input signal for running a part
Run part in signal
Input signal for running a menu.
Run menu in signal
Acknowledge signal used for handshake.
Run ack signal
Group input signal that defines the PLC order.
PLC group in signal
Group output signal that confirms the PLC order. Also works as error
code if an error occurs in Production Manager.
PLC group out signal
Example workflow
The following is a typical workflow when running Production Manager from a PLC.
1
The PLC sets an order on the PLC group in signal.
2
The order is confirmed by Production Manager by setting the PLC group
output signal to the same value as the PLC group in signal.
3
The PLC sets the Run part or Run menu signal.
If everything is working correctly, Production Manager will set the PLC Group
output signal to 0.
Note
If No reset of output signal in GAP API State is TRUE, the PLC value will
remain on the group output signal.
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
General
Production Manager can be controlled by using a PLC instead of the FlexPendant.
By configuring the signals described in the table below, Production Manager can
react directly on PLC orders used for running parts or menus. When Production
Manager receives a PLC order, it searches the task for a partdata or menudata
instance, depending on the order type, where the PlcCode field matches the value
of the group input signal plc_cmd_group_in .
![Image]
xx1400002379
Description of signals
Description
System parameter
Input signal for running a part
Run part in signal
Input signal for running a menu.
Run menu in signal
Acknowledge signal used for handshake.
Run ack signal
Group input signal that defines the PLC order.
PLC group in signal
Group output signal that confirms the PLC order. Also works as error
code if an error occurs in Production Manager.
PLC group out signal
Example workflow
The following is a typical workflow when running Production Manager from a PLC.
1
The PLC sets an order on the PLC group in signal.
2
The order is confirmed by Production Manager by setting the PLC group
output signal to the same value as the PLC group in signal.
3
The PLC sets the Run part or Run menu signal.
If everything is working correctly, Production Manager will set the PLC Group
output signal to 0.
Note
If No reset of output signal in GAP API State is TRUE, the PLC value will
remain on the group output signal.
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
If an error has occurred then the last two digits in the error code will be set
on the PLC group output signal, that is error_code - 111400 since Production
Manager's error codes works between 111400 and 111499.
Note
If Error group output signal in GAP API State is specified, the error code
will not be displayed on the PLC group output signal, but instead on the
Error group output signal. See Production Manager API State on page 54 .
4
If the Run ack signal has been defined further handshaking is possible to
use before the part or menu is executed.
Assuming everything is working correctly, Run ack signal will be set high by
Production Manager.
5
The PLC responds with setting the Run part or Run menu signal low which
will trigger Production Manager to set the Run ack signal low again and
launch the part or menu.
Note
Due to the error code functionality described above we recommend that the PLC
orders do not use numbers between 0 and 99.
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
General
Production Manager can be controlled by using a PLC instead of the FlexPendant.
By configuring the signals described in the table below, Production Manager can
react directly on PLC orders used for running parts or menus. When Production
Manager receives a PLC order, it searches the task for a partdata or menudata
instance, depending on the order type, where the PlcCode field matches the value
of the group input signal plc_cmd_group_in .
![Image]
xx1400002379
Description of signals
Description
System parameter
Input signal for running a part
Run part in signal
Input signal for running a menu.
Run menu in signal
Acknowledge signal used for handshake.
Run ack signal
Group input signal that defines the PLC order.
PLC group in signal
Group output signal that confirms the PLC order. Also works as error
code if an error occurs in Production Manager.
PLC group out signal
Example workflow
The following is a typical workflow when running Production Manager from a PLC.
1
The PLC sets an order on the PLC group in signal.
2
The order is confirmed by Production Manager by setting the PLC group
output signal to the same value as the PLC group in signal.
3
The PLC sets the Run part or Run menu signal.
If everything is working correctly, Production Manager will set the PLC Group
output signal to 0.
Note
If No reset of output signal in GAP API State is TRUE, the PLC value will
remain on the group output signal.
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
If an error has occurred then the last two digits in the error code will be set
on the PLC group output signal, that is error_code - 111400 since Production
Manager's error codes works between 111400 and 111499.
Note
If Error group output signal in GAP API State is specified, the error code
will not be displayed on the PLC group output signal, but instead on the
Error group output signal. See Production Manager API State on page 54 .
4
If the Run ack signal has been defined further handshaking is possible to
use before the part or menu is executed.
Assuming everything is working correctly, Run ack signal will be set high by
Production Manager.
5
The PLC responds with setting the Run part or Run menu signal low which
will trigger Production Manager to set the Run ack signal low again and
launch the part or menu.
Note
Due to the error code functionality described above we recommend that the PLC
orders do not use numbers between 0 and 99.
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
Continued
4.2 How to run Production Manager from PLC via RAPID
Overview
Sometimes the PLC logic needs to be processed in a RAPID module before it is
served to Production Manager. For these occasions Production Manager provides
an instruction interface in RAPID from where it is possible to tell Production Manager
which procedure to execute. Parts , Setup , and Service menus can be run by serving
Production Manager the type of order and procedure to execute.
How to run parts from PLC via RAPID
Example 1
PERS partdata pdProgStn1:=["ProgStn1", "Program station 1",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",1, "GapEmptyPart200.gif",""];
PERS partdata pdProgStn2:=["ProgStn2","Program station 2",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",2,"GapEmptyPart200.gif",""];
CONNECT inPlcCmd WITH trPlcCmd; ISignalDI diPlcCmd,1, inPlcCmd
LOCAL TRAP trPlcCmd
VAR num nPlcCode;
nPlcCode:= Ginput(giPlcCode);
TEST nPlcCode
CASE 1:
SetDO soGap_NextStn1,0;
! run part for station 1
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB1"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB2"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB3"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_POS1"),1,pdProgStn1;
! tell GAP next station
SetDO soGap_NextStn1,1;
CASE 2:
SetDO soGap_NextStn2,0;
! run part for station 2
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB1"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB2"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB3"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_POS1"),2,pdProgStn2;
! tell GAP next station
SetDO soGap_NextStn2,1;
CASE 12:
CASE 64:
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If an error has occurred then the last two digits in the error code will be set
on the PLC group output signal, that is error_code - 111400 since Production
Manager's error codes works between 111400 and 111499.
Note
If Error group output signal in GAP API State is specified, the error code
will not be displayed on the PLC group output signal, but instead on the
Error group output signal. See Production Manager API State on page 54 .
4
If the Run ack signal has been defined further handshaking is possible to
use before the part or menu is executed.
Assuming everything is working correctly, Run ack signal will be set high by
Production Manager.
5
The PLC responds with setting the Run part or Run menu signal low which
will trigger Production Manager to set the Run ack signal low again and
launch the part or menu.
Note
Due to the error code functionality described above we recommend that the PLC
orders do not use numbers between 0 and 99.
62
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4 Production Manager PLC support
4.1 How to run Production Manager from PLC
Continued
4.2 How to run Production Manager from PLC via RAPID
Overview
Sometimes the PLC logic needs to be processed in a RAPID module before it is
served to Production Manager. For these occasions Production Manager provides
an instruction interface in RAPID from where it is possible to tell Production Manager
which procedure to execute. Parts , Setup , and Service menus can be run by serving
Production Manager the type of order and procedure to execute.
How to run parts from PLC via RAPID
Example 1
PERS partdata pdProgStn1:=["ProgStn1", "Program station 1",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",1, "GapEmptyPart200.gif",""];
PERS partdata pdProgStn2:=["ProgStn2","Program station 2",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",2,"GapEmptyPart200.gif",""];
CONNECT inPlcCmd WITH trPlcCmd; ISignalDI diPlcCmd,1, inPlcCmd
LOCAL TRAP trPlcCmd
VAR num nPlcCode;
nPlcCode:= Ginput(giPlcCode);
TEST nPlcCode
CASE 1:
SetDO soGap_NextStn1,0;
! run part for station 1
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB1"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB2"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB3"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_POS1"),1,pdProgStn1;
! tell GAP next station
SetDO soGap_NextStn1,1;
CASE 2:
SetDO soGap_NextStn2,0;
! run part for station 2
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB1"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB2"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB3"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_POS1"),2,pdProgStn2;
! tell GAP next station
SetDO soGap_NextStn2,1;
CASE 12:
CASE 64:
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4.2 How to run Production Manager from PLC via RAPID
CASE 128:
ENDTEST
! tell GAP to run
SetDO soGap_Run,1;
ENDTRAP
How to run menus from PLC via RAPID
Example 2
TASK PERS menudata mdCalibIntch1:=["Calibrate irbp1 interchange
positions","GapMicCalibrate32.gif","Irbp1Mnu:mnuCalibIntch1",
255,"",3,TRUE,1,0,TRUE,0];
CONNECT inPlcCmd WITH trPlcCmd;
ISignalDI diPlcCmd,1, inPlcCmd;
LOCAL TRAP trPlcCmd
VAR num nPlcCode;
VAR menudata mdTemp;
nPlcCode:= Ginput(giPlcCode);
TEST nPlcCode
CASE 1:
mdTemp:= mdCalibIntch1;
PMgrRunMenu mdTemp;
ENDTEST
ENDTRAP
To run a menu in several tasks
Example 3
To run a menu in several tasks the following instructions can be used:
LOCAL CONST menudata mdRobSafeAll:=["Move all robots to home
position", "GapIRB140Icon.gif","MoveSafe",255,"
T_ROB1:T_ROB2:T_ROB3",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
VAR menudata mdTemp;
mdTemp:=mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdTemp;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdTemp;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdTemp;
Or:
TASK PERS menudata mdRobSafeAll:= ["Move all robots to home
position", "GapIRB140Icon.gif","MoveSafe",255,"
T_ROB1:T_ROB2:T_ROB3",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
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4.2 How to run Production Manager from PLC via RAPID
Overview
Sometimes the PLC logic needs to be processed in a RAPID module before it is
served to Production Manager. For these occasions Production Manager provides
an instruction interface in RAPID from where it is possible to tell Production Manager
which procedure to execute. Parts , Setup , and Service menus can be run by serving
Production Manager the type of order and procedure to execute.
How to run parts from PLC via RAPID
Example 1
PERS partdata pdProgStn1:=["ProgStn1", "Program station 1",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",1, "GapEmptyPart200.gif",""];
PERS partdata pdProgStn2:=["ProgStn2","Program station 2",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",2,"GapEmptyPart200.gif",""];
CONNECT inPlcCmd WITH trPlcCmd; ISignalDI diPlcCmd,1, inPlcCmd
LOCAL TRAP trPlcCmd
VAR num nPlcCode;
nPlcCode:= Ginput(giPlcCode);
TEST nPlcCode
CASE 1:
SetDO soGap_NextStn1,0;
! run part for station 1
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB1"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB2"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB3"),1,pdProgStn1;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_POS1"),1,pdProgStn1;
! tell GAP next station
SetDO soGap_NextStn1,1;
CASE 2:
SetDO soGap_NextStn2,0;
! run part for station 2
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB1"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB2"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_ROB3"),2,pdProgStn2;
PMgrSetNextPart \
TaskNumber:=GapTaskIndex("T_POS1"),2,pdProgStn2;
! tell GAP next station
SetDO soGap_NextStn2,1;
CASE 12:
CASE 64:
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4.2 How to run Production Manager from PLC via RAPID
CASE 128:
ENDTEST
! tell GAP to run
SetDO soGap_Run,1;
ENDTRAP
How to run menus from PLC via RAPID
Example 2
TASK PERS menudata mdCalibIntch1:=["Calibrate irbp1 interchange
positions","GapMicCalibrate32.gif","Irbp1Mnu:mnuCalibIntch1",
255,"",3,TRUE,1,0,TRUE,0];
CONNECT inPlcCmd WITH trPlcCmd;
ISignalDI diPlcCmd,1, inPlcCmd;
LOCAL TRAP trPlcCmd
VAR num nPlcCode;
VAR menudata mdTemp;
nPlcCode:= Ginput(giPlcCode);
TEST nPlcCode
CASE 1:
mdTemp:= mdCalibIntch1;
PMgrRunMenu mdTemp;
ENDTEST
ENDTRAP
To run a menu in several tasks
Example 3
To run a menu in several tasks the following instructions can be used:
LOCAL CONST menudata mdRobSafeAll:=["Move all robots to home
position", "GapIRB140Icon.gif","MoveSafe",255,"
T_ROB1:T_ROB2:T_ROB3",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
VAR menudata mdTemp;
mdTemp:=mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdTemp;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdTemp;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdTemp;
Or:
TASK PERS menudata mdRobSafeAll:= ["Move all robots to home
position", "GapIRB140Icon.gif","MoveSafe",255,"
T_ROB1:T_ROB2:T_ROB3",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
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4.2 How to run Production Manager from PLC via RAPID
Continued
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdRobSafeAll;
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CASE 128:
ENDTEST
! tell GAP to run
SetDO soGap_Run,1;
ENDTRAP
How to run menus from PLC via RAPID
Example 2
TASK PERS menudata mdCalibIntch1:=["Calibrate irbp1 interchange
positions","GapMicCalibrate32.gif","Irbp1Mnu:mnuCalibIntch1",
255,"",3,TRUE,1,0,TRUE,0];
CONNECT inPlcCmd WITH trPlcCmd;
ISignalDI diPlcCmd,1, inPlcCmd;
LOCAL TRAP trPlcCmd
VAR num nPlcCode;
VAR menudata mdTemp;
nPlcCode:= Ginput(giPlcCode);
TEST nPlcCode
CASE 1:
mdTemp:= mdCalibIntch1;
PMgrRunMenu mdTemp;
ENDTEST
ENDTRAP
To run a menu in several tasks
Example 3
To run a menu in several tasks the following instructions can be used:
LOCAL CONST menudata mdRobSafeAll:=["Move all robots to home
position", "GapIRB140Icon.gif","MoveSafe",255,"
T_ROB1:T_ROB2:T_ROB3",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
VAR menudata mdTemp;
mdTemp:=mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdTemp;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdTemp;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdTemp;
Or:
TASK PERS menudata mdRobSafeAll:= ["Move all robots to home
position", "GapIRB140Icon.gif","MoveSafe",255,"
T_ROB1:T_ROB2:T_ROB3",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
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Continued
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdRobSafeAll;
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PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdRobSafeAll;
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5 RAPID references
5.1 Instructions
5.1.1 ExecEngine - Start execution engine
Usage
ExecEngine starts the execution engine.
Basic examples
The following example illustrates the instruction ExecEngine .
Example 1
ExecEngine;
The execution engine is started and waiting for an order.
Arguments
There are no arguments.
Program execution
The user calls this routine from the main routine in each motion task. Typically the
user-defined main routine should have a procedure call to ExecEngine and nothing
else.
Syntax
ExecEngine ';'
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5.1 Instructions
5.1.1 ExecEngine - Start execution engine
Usage
ExecEngine starts the execution engine.
Basic examples
The following example illustrates the instruction ExecEngine .
Example 1
ExecEngine;
The execution engine is started and waiting for an order.
Arguments
There are no arguments.
Program execution
The user calls this routine from the main routine in each motion task. Typically the
user-defined main routine should have a procedure call to ExecEngine and nothing
else.
Syntax
ExecEngine ';'
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5.1.1 ExecEngine - Start execution engine
5.1.2 PMgrGetNextPart - Get active part for station in task
Usage
PMgrGetNextPart gets the part that is being produced for a station in a task.
Basic examples
The following examples illustrate the instruction PMgrGetNextPart .
Example 1
PMgrGetNextPart stn, tmpPart;
The PMgrGetNextPart instruction will return the partdata used for station stn .
The resulting partdata will be passed in tmpPart .
Example 2
! Data declarations
VAR num station:=1;
VAR partdata pdTmpChk;
VAR string sPartDataName;
PROC PrepareData()
PMgrGetNextPart station,pdTmpChk\InstanceName:=sPartDataName;
ENDPROC
Arguments
PMgrGetNextPart [\TaskNumber] Station RetData [\InstanceName]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the part for. If argument TaskNumber is omitted the current task number is used.
Station
Data type: num
The station to get the part for.
RetData
Data type: partdata
The resulting part returned from the instruction.
[\InstanceName]
Data type: string
The instance name of the retData part.
Program execution
The instruction returns the part selected for the specified station and task number.
In the case no parts are selected for the station(s), for example, running Production
Manager from a PLC, an empty part will be returned.
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5.1 Instructions
5.1.1 ExecEngine - Start execution engine
Usage
ExecEngine starts the execution engine.
Basic examples
The following example illustrates the instruction ExecEngine .
Example 1
ExecEngine;
The execution engine is started and waiting for an order.
Arguments
There are no arguments.
Program execution
The user calls this routine from the main routine in each motion task. Typically the
user-defined main routine should have a procedure call to ExecEngine and nothing
else.
Syntax
ExecEngine ';'
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5.1.1 ExecEngine - Start execution engine
5.1.2 PMgrGetNextPart - Get active part for station in task
Usage
PMgrGetNextPart gets the part that is being produced for a station in a task.
Basic examples
The following examples illustrate the instruction PMgrGetNextPart .
Example 1
PMgrGetNextPart stn, tmpPart;
The PMgrGetNextPart instruction will return the partdata used for station stn .
The resulting partdata will be passed in tmpPart .
Example 2
! Data declarations
VAR num station:=1;
VAR partdata pdTmpChk;
VAR string sPartDataName;
PROC PrepareData()
PMgrGetNextPart station,pdTmpChk\InstanceName:=sPartDataName;
ENDPROC
Arguments
PMgrGetNextPart [\TaskNumber] Station RetData [\InstanceName]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the part for. If argument TaskNumber is omitted the current task number is used.
Station
Data type: num
The station to get the part for.
RetData
Data type: partdata
The resulting part returned from the instruction.
[\InstanceName]
Data type: string
The instance name of the retData part.
Program execution
The instruction returns the part selected for the specified station and task number.
In the case no parts are selected for the station(s), for example, running Production
Manager from a PLC, an empty part will be returned.
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5.1.2 PMgrGetNextPart - Get active part for station in task
Syntax
PMgrGetNextPart
['\' TaskNumber ':=' ] < expression (IN) of num > ','
[ Station ':=' ] < expression (IN) of num > ','
[ RetData ':=' ] < var or pers (INOUT) of partdata > ','
[InstanceName ':=' ] < var or pers (INOUT) of string > ';'
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5.1.2 PMgrGetNextPart - Get active part for station in task
Usage
PMgrGetNextPart gets the part that is being produced for a station in a task.
Basic examples
The following examples illustrate the instruction PMgrGetNextPart .
Example 1
PMgrGetNextPart stn, tmpPart;
The PMgrGetNextPart instruction will return the partdata used for station stn .
The resulting partdata will be passed in tmpPart .
Example 2
! Data declarations
VAR num station:=1;
VAR partdata pdTmpChk;
VAR string sPartDataName;
PROC PrepareData()
PMgrGetNextPart station,pdTmpChk\InstanceName:=sPartDataName;
ENDPROC
Arguments
PMgrGetNextPart [\TaskNumber] Station RetData [\InstanceName]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the part for. If argument TaskNumber is omitted the current task number is used.
Station
Data type: num
The station to get the part for.
RetData
Data type: partdata
The resulting part returned from the instruction.
[\InstanceName]
Data type: string
The instance name of the retData part.
Program execution
The instruction returns the part selected for the specified station and task number.
In the case no parts are selected for the station(s), for example, running Production
Manager from a PLC, an empty part will be returned.
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5.1.2 PMgrGetNextPart - Get active part for station in task
Syntax
PMgrGetNextPart
['\' TaskNumber ':=' ] < expression (IN) of num > ','
[ Station ':=' ] < expression (IN) of num > ','
[ RetData ':=' ] < var or pers (INOUT) of partdata > ','
[InstanceName ':=' ] < var or pers (INOUT) of string > ';'
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Continued
5.1.3 PMgrSetNextPart - Set active part for station in task
Usage
PMgrSetNextPart sets the part that will be produced for a station in a task.
Basic examples
The following examples illustrate the instruction PMgrSetNextPart .
Example 1
PMgrSetNextPart stn, tmpPart
The SetNextPart instruction will set the part tmpPart for station stn .
Example 2
! Data declarations
VAR num station:=1;
VAR partdata pdTmpChk;
PROC PrepareData ()
PMgrSetNextPart station,pdTmpChk;
ENDPROC
Arguments
PMgrSetNextPart [\TaskNumber] Station NewData
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to set
the part for. If argument TaskNumber is omitted the current task number is used.
Station
Data type: num
The station to set the part for.
NewData
Data type: partdata
The part that should be set for this station and task.
Program execution
The instruction sets the part for the specified station and task number.
Syntax
PMgrSetNextPart
[ '\' TaskNumber ':=' ] < expression (IN) of num > ','
[ Station ':=' ] < expression (IN) of num > ','
[ NewData ':=' ] < persistent (PERS) of partdata > ','
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Syntax
PMgrGetNextPart
['\' TaskNumber ':=' ] < expression (IN) of num > ','
[ Station ':=' ] < expression (IN) of num > ','
[ RetData ':=' ] < var or pers (INOUT) of partdata > ','
[InstanceName ':=' ] < var or pers (INOUT) of string > ';'
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Continued
5.1.3 PMgrSetNextPart - Set active part for station in task
Usage
PMgrSetNextPart sets the part that will be produced for a station in a task.
Basic examples
The following examples illustrate the instruction PMgrSetNextPart .
Example 1
PMgrSetNextPart stn, tmpPart
The SetNextPart instruction will set the part tmpPart for station stn .
Example 2
! Data declarations
VAR num station:=1;
VAR partdata pdTmpChk;
PROC PrepareData ()
PMgrSetNextPart station,pdTmpChk;
ENDPROC
Arguments
PMgrSetNextPart [\TaskNumber] Station NewData
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to set
the part for. If argument TaskNumber is omitted the current task number is used.
Station
Data type: num
The station to set the part for.
NewData
Data type: partdata
The part that should be set for this station and task.
Program execution
The instruction sets the part for the specified station and task number.
Syntax
PMgrSetNextPart
[ '\' TaskNumber ':=' ] < expression (IN) of num > ','
[ Station ':=' ] < expression (IN) of num > ','
[ NewData ':=' ] < persistent (PERS) of partdata > ','
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5.1.3 PMgrSetNextPart - Set active part for station in task
5.1.4 PMgrRunMenu - Run menu in task
Usage
PMgrRunMenu is used to run a menu in a task.
Basic examples
The following examples illustrate the instruction PMgrRunMenu .
Example 1
VAR menudata mnuBE := ["TCP Setup","","BEToolSetup",255,"",
GAP_SHOW_ALWAYS,TRUE,GAP_SETUP_TYPE,0,FALSE,0];
PMgrRunMenu mnuBE;
Runs the mnuBE menu in the current task, without using the FlexPendant application.
Example 2
! Data declarations
VAR menudata mnuBE := ["TCP
Setup","","BEToolSetup",255,"",GAP_SHOW_ALWAYS,
TRUE,GAP_SETUP_TYPE,0,FALSE,0];
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
PMgrRunMenu(\TaskNumber:=taskNr, mnuBE);
ENDPROC
Arguments
PMgrRunMenu [\TaskNumber] Menu
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to run
the menu in. If argument TaskNumber is omitted, the current task number is used.
Menu
Data type: menudata
The menu to execute.
Syntax
PMgrRunMenu
[ '\' TaskNumber ':=' < expression (IN) of num > ]
[ Menu ':=' ] < var or pers (INOUT) of menudata > ';'
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5.1.3 PMgrSetNextPart - Set active part for station in task
Usage
PMgrSetNextPart sets the part that will be produced for a station in a task.
Basic examples
The following examples illustrate the instruction PMgrSetNextPart .
Example 1
PMgrSetNextPart stn, tmpPart
The SetNextPart instruction will set the part tmpPart for station stn .
Example 2
! Data declarations
VAR num station:=1;
VAR partdata pdTmpChk;
PROC PrepareData ()
PMgrSetNextPart station,pdTmpChk;
ENDPROC
Arguments
PMgrSetNextPart [\TaskNumber] Station NewData
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to set
the part for. If argument TaskNumber is omitted the current task number is used.
Station
Data type: num
The station to set the part for.
NewData
Data type: partdata
The part that should be set for this station and task.
Program execution
The instruction sets the part for the specified station and task number.
Syntax
PMgrSetNextPart
[ '\' TaskNumber ':=' ] < expression (IN) of num > ','
[ Station ':=' ] < expression (IN) of num > ','
[ NewData ':=' ] < persistent (PERS) of partdata > ','
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5.1.3 PMgrSetNextPart - Set active part for station in task
5.1.4 PMgrRunMenu - Run menu in task
Usage
PMgrRunMenu is used to run a menu in a task.
Basic examples
The following examples illustrate the instruction PMgrRunMenu .
Example 1
VAR menudata mnuBE := ["TCP Setup","","BEToolSetup",255,"",
GAP_SHOW_ALWAYS,TRUE,GAP_SETUP_TYPE,0,FALSE,0];
PMgrRunMenu mnuBE;
Runs the mnuBE menu in the current task, without using the FlexPendant application.
Example 2
! Data declarations
VAR menudata mnuBE := ["TCP
Setup","","BEToolSetup",255,"",GAP_SHOW_ALWAYS,
TRUE,GAP_SETUP_TYPE,0,FALSE,0];
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
PMgrRunMenu(\TaskNumber:=taskNr, mnuBE);
ENDPROC
Arguments
PMgrRunMenu [\TaskNumber] Menu
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to run
the menu in. If argument TaskNumber is omitted, the current task number is used.
Menu
Data type: menudata
The menu to execute.
Syntax
PMgrRunMenu
[ '\' TaskNumber ':=' < expression (IN) of num > ]
[ Menu ':=' ] < var or pers (INOUT) of menudata > ';'
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5.1.4 PMgrRunMenu - Run menu in task
5.2 Functions
5.2.1 PMgrAtSafe - Check if task is at safe state
Usage
PMgrAtSafe is used to check if the task is at safe state.
Basic examples
The following examples illustrate the function PMgrAtSafe .
Example 1
VAR bool bAtSafe;
bAtSafe:=PMgrAtSafe();
Check if the current task is at safe.
Example 2
! Data declarations
VAR bool bAtSafe;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
bAtSafe:=PMgrAtSafe(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: bool
TRUE if the task is at safe state, FALSE otherwise.
Arguments
PMgrAtSafe [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to
check the safe state for. If argument TaskNumber is omitted, the current task
number is used.
Syntax
PMgrAtSafe '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.1.4 PMgrRunMenu - Run menu in task
Usage
PMgrRunMenu is used to run a menu in a task.
Basic examples
The following examples illustrate the instruction PMgrRunMenu .
Example 1
VAR menudata mnuBE := ["TCP Setup","","BEToolSetup",255,"",
GAP_SHOW_ALWAYS,TRUE,GAP_SETUP_TYPE,0,FALSE,0];
PMgrRunMenu mnuBE;
Runs the mnuBE menu in the current task, without using the FlexPendant application.
Example 2
! Data declarations
VAR menudata mnuBE := ["TCP
Setup","","BEToolSetup",255,"",GAP_SHOW_ALWAYS,
TRUE,GAP_SETUP_TYPE,0,FALSE,0];
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
PMgrRunMenu(\TaskNumber:=taskNr, mnuBE);
ENDPROC
Arguments
PMgrRunMenu [\TaskNumber] Menu
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to run
the menu in. If argument TaskNumber is omitted, the current task number is used.
Menu
Data type: menudata
The menu to execute.
Syntax
PMgrRunMenu
[ '\' TaskNumber ':=' < expression (IN) of num > ]
[ Menu ':=' ] < var or pers (INOUT) of menudata > ';'
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5.1.4 PMgrRunMenu - Run menu in task
5.2 Functions
5.2.1 PMgrAtSafe - Check if task is at safe state
Usage
PMgrAtSafe is used to check if the task is at safe state.
Basic examples
The following examples illustrate the function PMgrAtSafe .
Example 1
VAR bool bAtSafe;
bAtSafe:=PMgrAtSafe();
Check if the current task is at safe.
Example 2
! Data declarations
VAR bool bAtSafe;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
bAtSafe:=PMgrAtSafe(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: bool
TRUE if the task is at safe state, FALSE otherwise.
Arguments
PMgrAtSafe [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to
check the safe state for. If argument TaskNumber is omitted, the current task
number is used.
Syntax
PMgrAtSafe '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.1 PMgrAtSafe - Check if task is at safe state
5.2.2 PMgrAtService - Check if task is at service state
Usage
PMgrAtService is used to check if task is at service state.
Basic examples
The following examples illustrate the function PMgrAtService .
Example 1
VAR bool bAtService;
bAtService:=PMgrAtService();
Check if the current task is at service.
Example 2
! Data declarations
VAR bool bAtService;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
bAtService:=PMgrAtService(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: bool
TRUE if the task is at service state, FALSE otherwise.
Arguments
PMgrAtService [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to
check the service state for. If argument TaskNumber is omitted, the current task
number is used.
Syntax
PMgrAtService '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2 Functions
5.2.1 PMgrAtSafe - Check if task is at safe state
Usage
PMgrAtSafe is used to check if the task is at safe state.
Basic examples
The following examples illustrate the function PMgrAtSafe .
Example 1
VAR bool bAtSafe;
bAtSafe:=PMgrAtSafe();
Check if the current task is at safe.
Example 2
! Data declarations
VAR bool bAtSafe;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
bAtSafe:=PMgrAtSafe(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: bool
TRUE if the task is at safe state, FALSE otherwise.
Arguments
PMgrAtSafe [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to
check the safe state for. If argument TaskNumber is omitted, the current task
number is used.
Syntax
PMgrAtSafe '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.1 PMgrAtSafe - Check if task is at safe state
5.2.2 PMgrAtService - Check if task is at service state
Usage
PMgrAtService is used to check if task is at service state.
Basic examples
The following examples illustrate the function PMgrAtService .
Example 1
VAR bool bAtService;
bAtService:=PMgrAtService();
Check if the current task is at service.
Example 2
! Data declarations
VAR bool bAtService;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
bAtService:=PMgrAtService(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: bool
TRUE if the task is at service state, FALSE otherwise.
Arguments
PMgrAtService [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to
check the service state for. If argument TaskNumber is omitted, the current task
number is used.
Syntax
PMgrAtService '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.2 PMgrAtService - Check if task is at service state
5.2.3 PMgrAtState - Check the state of a task
Usage
PMgrAtState is used to check production state of a task.
Basic examples
The following examples illustrate the function PMgrAtState .
Example 1
VAR num PMState;
PMState:=PMgrAtState();
Get the production state of the current task.
Example 2
! Data declarations
VAR num state;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
state:=PMgrAtState(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: num
The returned value represents different execution states of Production Manager's
execution engine.
The following return values are valid:
Description
Value
Constant
Unknown state/not running
0
GAP_STATE_UNKN
Executing but idle
1
GAP_STATE_IDLE
Executing setup routine
2
GAP_STATE_SETUP
Executing part
3
GAP_STATE_PART
Executing service routine
4
GAP_STATE_SERV
Arguments
PMgrAtState [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the state for. If argument TaskNumber is omitted, the current task number is used.
Syntax
PMgrAtState '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.2 PMgrAtService - Check if task is at service state
Usage
PMgrAtService is used to check if task is at service state.
Basic examples
The following examples illustrate the function PMgrAtService .
Example 1
VAR bool bAtService;
bAtService:=PMgrAtService();
Check if the current task is at service.
Example 2
! Data declarations
VAR bool bAtService;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
bAtService:=PMgrAtService(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: bool
TRUE if the task is at service state, FALSE otherwise.
Arguments
PMgrAtService [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to
check the service state for. If argument TaskNumber is omitted, the current task
number is used.
Syntax
PMgrAtService '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.2 PMgrAtService - Check if task is at service state
5.2.3 PMgrAtState - Check the state of a task
Usage
PMgrAtState is used to check production state of a task.
Basic examples
The following examples illustrate the function PMgrAtState .
Example 1
VAR num PMState;
PMState:=PMgrAtState();
Get the production state of the current task.
Example 2
! Data declarations
VAR num state;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
state:=PMgrAtState(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: num
The returned value represents different execution states of Production Manager's
execution engine.
The following return values are valid:
Description
Value
Constant
Unknown state/not running
0
GAP_STATE_UNKN
Executing but idle
1
GAP_STATE_IDLE
Executing setup routine
2
GAP_STATE_SETUP
Executing part
3
GAP_STATE_PART
Executing service routine
4
GAP_STATE_SERV
Arguments
PMgrAtState [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the state for. If argument TaskNumber is omitted, the current task number is used.
Syntax
PMgrAtState '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.3 PMgrAtState - Check the state of a task
5.2.4 PMgrAtStation - Get the current station for a task
Usage
PMgrAtStation is used to get the current station for a task.
Basic examples
The following examples illustrate the function PMgrAtStation .
Example 1
VAR num nStation;
nStation:=PMgrAtStation();
Get the current station for the current task.
Example 2
! Data declarations
VAR num nStation;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
nStation:=PMgrAtStation(\TaskNumber:=taskNr);
TPWrite "Current station is" + ValToStr(nStation);
ENDPROC
Return value
Data type: num
The returned value represents the active station.
Arguments
PMgrAtStation [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the station for. If argument TaskNumber is omitted, the current task number is
used.
Syntax
PMgrAtStation '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.3 PMgrAtState - Check the state of a task
Usage
PMgrAtState is used to check production state of a task.
Basic examples
The following examples illustrate the function PMgrAtState .
Example 1
VAR num PMState;
PMState:=PMgrAtState();
Get the production state of the current task.
Example 2
! Data declarations
VAR num state;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
state:=PMgrAtState(\TaskNumber:=taskNr);
ENDPROC
Return value
Data type: num
The returned value represents different execution states of Production Manager's
execution engine.
The following return values are valid:
Description
Value
Constant
Unknown state/not running
0
GAP_STATE_UNKN
Executing but idle
1
GAP_STATE_IDLE
Executing setup routine
2
GAP_STATE_SETUP
Executing part
3
GAP_STATE_PART
Executing service routine
4
GAP_STATE_SERV
Arguments
PMgrAtState [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the state for. If argument TaskNumber is omitted, the current task number is used.
Syntax
PMgrAtState '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.3 PMgrAtState - Check the state of a task
5.2.4 PMgrAtStation - Get the current station for a task
Usage
PMgrAtStation is used to get the current station for a task.
Basic examples
The following examples illustrate the function PMgrAtStation .
Example 1
VAR num nStation;
nStation:=PMgrAtStation();
Get the current station for the current task.
Example 2
! Data declarations
VAR num nStation;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
nStation:=PMgrAtStation(\TaskNumber:=taskNr);
TPWrite "Current station is" + ValToStr(nStation);
ENDPROC
Return value
Data type: num
The returned value represents the active station.
Arguments
PMgrAtStation [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the station for. If argument TaskNumber is omitted, the current task number is
used.
Syntax
PMgrAtStation '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.4 PMgrAtStation - Get the current station for a task
5.2.5 PMgrNextStation - Get the next station for a task
Usage
PMgrNextStation is used to get the next station for a task.
Basic examples
The following examples illustrate the function PMgrNextStation .
Example 1
VAR num nextStation;
nextStation:=PMgrNextStation();
Get the next station for the current task.
Example 2
! Data declarations
VAR num nextStation;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
nextStation:=PMgrNextStation(\TaskNumber:=taskNr);
TPWrite "Next station is" + ValToStr(nextStation);
ENDPROC
Return value
Data type: num
The returned value represents the next station that will be used for the next part.
Arguments
PMgrNextStation [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the station for. If argument TaskNumber is omitted, the current task number is
used.
Syntax
PMgrNextStation '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.4 PMgrAtStation - Get the current station for a task
Usage
PMgrAtStation is used to get the current station for a task.
Basic examples
The following examples illustrate the function PMgrAtStation .
Example 1
VAR num nStation;
nStation:=PMgrAtStation();
Get the current station for the current task.
Example 2
! Data declarations
VAR num nStation;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
nStation:=PMgrAtStation(\TaskNumber:=taskNr);
TPWrite "Current station is" + ValToStr(nStation);
ENDPROC
Return value
Data type: num
The returned value represents the active station.
Arguments
PMgrAtStation [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the station for. If argument TaskNumber is omitted, the current task number is
used.
Syntax
PMgrAtStation '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.4 PMgrAtStation - Get the current station for a task
5.2.5 PMgrNextStation - Get the next station for a task
Usage
PMgrNextStation is used to get the next station for a task.
Basic examples
The following examples illustrate the function PMgrNextStation .
Example 1
VAR num nextStation;
nextStation:=PMgrNextStation();
Get the next station for the current task.
Example 2
! Data declarations
VAR num nextStation;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
nextStation:=PMgrNextStation(\TaskNumber:=taskNr);
TPWrite "Next station is" + ValToStr(nextStation);
ENDPROC
Return value
Data type: num
The returned value represents the next station that will be used for the next part.
Arguments
PMgrNextStation [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the station for. If argument TaskNumber is omitted, the current task number is
used.
Syntax
PMgrNextStation '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.5 PMgrNextStation - Get the next station for a task
5.2.6 PMgrTaskNumber - Get the task number
Usage
PMgrTaskNumber is used to get the Production Manager specific task number.
This task number is used in many instructions in the public RAPID interface of
Production Manager.
Basic examples
The following example illustrates the instruction PMgrTaskNumber .
Example 1
VAR num taskNumber;
taskNumber:= PMgrTaskNumber(\TaskName:="T_ROB1");
Get the Production Manager specific task index for task T_ROB1 .
Return value
Data type: num
The returned value represents the Production Manager specific task index for the
provided task name.
If no optional argument is used the task number for current task is returned.
Returns 0 if given TaskName is not a valid Production Manager task.
Arguments
PMgrTaskNumber [\TaskName]
[\TaskName]
Data type: string
The name of the task to get the task number for. If argument TaskName is omitted,
the current task name is used.
Syntax
PMgrTaskNumber '('
[ '\' TaskName ':=' ] < expression (IN) of string > ')'
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5.2.5 PMgrNextStation - Get the next station for a task
Usage
PMgrNextStation is used to get the next station for a task.
Basic examples
The following examples illustrate the function PMgrNextStation .
Example 1
VAR num nextStation;
nextStation:=PMgrNextStation();
Get the next station for the current task.
Example 2
! Data declarations
VAR num nextStation;
VAR num taskNr;
PROC Proc1 ()
taskNr := GAP_TASK_NO;
nextStation:=PMgrNextStation(\TaskNumber:=taskNr);
TPWrite "Next station is" + ValToStr(nextStation);
ENDPROC
Return value
Data type: num
The returned value represents the next station that will be used for the next part.
Arguments
PMgrNextStation [\TaskNumber]
[\TaskNumber]
Data type: num
Optional argument specifying the Production Manager specific task number to get
the station for. If argument TaskNumber is omitted, the current task number is
used.
Syntax
PMgrNextStation '('
[ '\' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.5 PMgrNextStation - Get the next station for a task
5.2.6 PMgrTaskNumber - Get the task number
Usage
PMgrTaskNumber is used to get the Production Manager specific task number.
This task number is used in many instructions in the public RAPID interface of
Production Manager.
Basic examples
The following example illustrates the instruction PMgrTaskNumber .
Example 1
VAR num taskNumber;
taskNumber:= PMgrTaskNumber(\TaskName:="T_ROB1");
Get the Production Manager specific task index for task T_ROB1 .
Return value
Data type: num
The returned value represents the Production Manager specific task index for the
provided task name.
If no optional argument is used the task number for current task is returned.
Returns 0 if given TaskName is not a valid Production Manager task.
Arguments
PMgrTaskNumber [\TaskName]
[\TaskName]
Data type: string
The name of the task to get the task number for. If argument TaskName is omitted,
the current task name is used.
Syntax
PMgrTaskNumber '('
[ '\' TaskName ':=' ] < expression (IN) of string > ')'
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5.2.6 PMgrTaskNumber - Get the task number
5.2.7 PMgrTaskName - Get the task name
Usage
PMgrTaskName is used to get the task name connected to a Production Manager
specific task number.
Basic examples
The following example illustrates the function PMgrTaskName .
Example 1
VAR string taskName;
VAR num taskNumber;
taskNumber:=GAP_TASK_NO;
taskName:= PMgrTaskName (\TaskNumber:=taskNumber);
TPWrite "The name of this task is " + taskName;
Get the task name for current task.
Return value
Data type: string
The returned value represents the task name connected to the Production Manager
specific task number.
Arguments
PMgrTaskName [\TaskNumber]
[\TaskNumber]
Data type: num
The Production Manager specific task number. If argument TaskNumber is omitted,
the current task number is used.
Syntax
PMgrTaskName '('
[ \' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.6 PMgrTaskNumber - Get the task number
Usage
PMgrTaskNumber is used to get the Production Manager specific task number.
This task number is used in many instructions in the public RAPID interface of
Production Manager.
Basic examples
The following example illustrates the instruction PMgrTaskNumber .
Example 1
VAR num taskNumber;
taskNumber:= PMgrTaskNumber(\TaskName:="T_ROB1");
Get the Production Manager specific task index for task T_ROB1 .
Return value
Data type: num
The returned value represents the Production Manager specific task index for the
provided task name.
If no optional argument is used the task number for current task is returned.
Returns 0 if given TaskName is not a valid Production Manager task.
Arguments
PMgrTaskNumber [\TaskName]
[\TaskName]
Data type: string
The name of the task to get the task number for. If argument TaskName is omitted,
the current task name is used.
Syntax
PMgrTaskNumber '('
[ '\' TaskName ':=' ] < expression (IN) of string > ')'
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5.2.6 PMgrTaskNumber - Get the task number
5.2.7 PMgrTaskName - Get the task name
Usage
PMgrTaskName is used to get the task name connected to a Production Manager
specific task number.
Basic examples
The following example illustrates the function PMgrTaskName .
Example 1
VAR string taskName;
VAR num taskNumber;
taskNumber:=GAP_TASK_NO;
taskName:= PMgrTaskName (\TaskNumber:=taskNumber);
TPWrite "The name of this task is " + taskName;
Get the task name for current task.
Return value
Data type: string
The returned value represents the task name connected to the Production Manager
specific task number.
Arguments
PMgrTaskName [\TaskNumber]
[\TaskNumber]
Data type: num
The Production Manager specific task number. If argument TaskNumber is omitted,
the current task number is used.
Syntax
PMgrTaskName '('
[ \' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.3 Public constants
Description
The list below shows the public constants and variables provided by Production
Manager.
General
Public task specific constants:
Description
Constant
The Production Manager specific task index for current
task.
GAP_TASK_NO
The task name of current task.
GAP_TASK_NAME
Menus
type field
Public constants to be used in the type field of menudata instances:
Value
Constant
1
GAP_SETUP_TYPE
2
GAP_SERVICE_TYPE
Example:
VAR menudata mnuBE := ["TCP Setup","","BEToolSetup",255,"",
GAP_SHOW_ALWAYS,TRUE,GAP_SETUP_TYPE,0,FALSE,0];
validPosition field
Public constants to be used in the validPosition field of menudata instances:
Value
Constant
0
GAP_SHOW_NEVER
1
GAP_SHOW_SAFE
2
GAP_SHOW_SERVICE
255
GAP_SHOW_ALWAYS
Example:
VAR menudata mnuBE := ["Check TCP","","BEToolCheck",255,"",
GAP_SHOW_NEVER,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
Execution
Execution state
Public constants to be used when querying Production Manager for the task state:
Description
Value
Constant
Unknown state/not running
0
GAP_STATE_UNKN
Executing but idle
1
GAP_STATE_IDLE
Executing setup routine
2
GAP_STATE_SETUP
Executing part
3
GAP_STATE_PART
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5.2.7 PMgrTaskName - Get the task name
Usage
PMgrTaskName is used to get the task name connected to a Production Manager
specific task number.
Basic examples
The following example illustrates the function PMgrTaskName .
Example 1
VAR string taskName;
VAR num taskNumber;
taskNumber:=GAP_TASK_NO;
taskName:= PMgrTaskName (\TaskNumber:=taskNumber);
TPWrite "The name of this task is " + taskName;
Get the task name for current task.
Return value
Data type: string
The returned value represents the task name connected to the Production Manager
specific task number.
Arguments
PMgrTaskName [\TaskNumber]
[\TaskNumber]
Data type: num
The Production Manager specific task number. If argument TaskNumber is omitted,
the current task number is used.
Syntax
PMgrTaskName '('
[ \' TaskNumber ':=' ] < expression (IN) of num > ')'
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5.2.7 PMgrTaskName - Get the task name
5.3 Public constants
Description
The list below shows the public constants and variables provided by Production
Manager.
General
Public task specific constants:
Description
Constant
The Production Manager specific task index for current
task.
GAP_TASK_NO
The task name of current task.
GAP_TASK_NAME
Menus
type field
Public constants to be used in the type field of menudata instances:
Value
Constant
1
GAP_SETUP_TYPE
2
GAP_SERVICE_TYPE
Example:
VAR menudata mnuBE := ["TCP Setup","","BEToolSetup",255,"",
GAP_SHOW_ALWAYS,TRUE,GAP_SETUP_TYPE,0,FALSE,0];
validPosition field
Public constants to be used in the validPosition field of menudata instances:
Value
Constant
0
GAP_SHOW_NEVER
1
GAP_SHOW_SAFE
2
GAP_SHOW_SERVICE
255
GAP_SHOW_ALWAYS
Example:
VAR menudata mnuBE := ["Check TCP","","BEToolCheck",255,"",
GAP_SHOW_NEVER,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
Execution
Execution state
Public constants to be used when querying Production Manager for the task state:
Description
Value
Constant
Unknown state/not running
0
GAP_STATE_UNKN
Executing but idle
1
GAP_STATE_IDLE
Executing setup routine
2
GAP_STATE_SETUP
Executing part
3
GAP_STATE_PART
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5.3 Public constants
Description
Value
Constant
Executing service routine
4
GAP_STATE_SERV
Example:
VAR num PMState;
PMState:=AtState();
IF PMState = GAP_STATE_IDLE THEN
TPWrite "Production Manager waiting for job";
ENDIF
Events
Public constants to be used when defining events:
Description
Value
Constant
Runs when exec engine starts
1
EE-START
Runs right after OP pressed/order from PLC
2
EE_CYCLE_START
Runs before menu executes
3
EE_PROC_START
General pre-production event
4
EE_PRE_PROD
Close jig
5
EE_CLOSE_JIG
Index IRBP
6
EE_INDEX
Runs before part
7
EE_PRE_PART
Runs after part
8
EE_POST_PART
Open jig
9
EE_OPEN_JIG
Run service of tool/other
10
EE_SERVICE
General post-production event
11
EE_POST_PROD
Abort cycle
12
EE_ABORT
Waiting for an order.
13
EE_WAIT_ORDER
Runs after menu
14
EE_POST_PROC
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Continued
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5.3 Public constants
Description
The list below shows the public constants and variables provided by Production
Manager.
General
Public task specific constants:
Description
Constant
The Production Manager specific task index for current
task.
GAP_TASK_NO
The task name of current task.
GAP_TASK_NAME
Menus
type field
Public constants to be used in the type field of menudata instances:
Value
Constant
1
GAP_SETUP_TYPE
2
GAP_SERVICE_TYPE
Example:
VAR menudata mnuBE := ["TCP Setup","","BEToolSetup",255,"",
GAP_SHOW_ALWAYS,TRUE,GAP_SETUP_TYPE,0,FALSE,0];
validPosition field
Public constants to be used in the validPosition field of menudata instances:
Value
Constant
0
GAP_SHOW_NEVER
1
GAP_SHOW_SAFE
2
GAP_SHOW_SERVICE
255
GAP_SHOW_ALWAYS
Example:
VAR menudata mnuBE := ["Check TCP","","BEToolCheck",255,"",
GAP_SHOW_NEVER,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
Execution
Execution state
Public constants to be used when querying Production Manager for the task state:
Description
Value
Constant
Unknown state/not running
0
GAP_STATE_UNKN
Executing but idle
1
GAP_STATE_IDLE
Executing setup routine
2
GAP_STATE_SETUP
Executing part
3
GAP_STATE_PART
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5.3 Public constants
Description
Value
Constant
Executing service routine
4
GAP_STATE_SERV
Example:
VAR num PMState;
PMState:=AtState();
IF PMState = GAP_STATE_IDLE THEN
TPWrite "Production Manager waiting for job";
ENDIF
Events
Public constants to be used when defining events:
Description
Value
Constant
Runs when exec engine starts
1
EE-START
Runs right after OP pressed/order from PLC
2
EE_CYCLE_START
Runs before menu executes
3
EE_PROC_START
General pre-production event
4
EE_PRE_PROD
Close jig
5
EE_CLOSE_JIG
Index IRBP
6
EE_INDEX
Runs before part
7
EE_PRE_PART
Runs after part
8
EE_POST_PART
Open jig
9
EE_OPEN_JIG
Run service of tool/other
10
EE_SERVICE
General post-production event
11
EE_POST_PROD
Abort cycle
12
EE_ABORT
Waiting for an order.
13
EE_WAIT_ORDER
Runs after menu
14
EE_POST_PROC
80
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5 RAPID references
5.3 Public constants
Continued
6 Seam Displacement options
6.1 General
Overview
The Seam Displacement option allows the operator to shift seams in relation to a
reference frame. The displacements can be applied via FlexPendant operator
screens without stopping production. It is possible to shift an entire weld or targets
within a seam individually. The operator can enter offsets at any point in time,
whether the robot is welding or not. The applied changes will take effect in the next
production cycle. This lets the operator visually inspect a part, apply seam offsets
where needed, and the changes will take effect when the next part is welded.
User restrictions
The functions available in Seam Displacement may be restricted by the user
authorization system, UAS.
About the option
The Seam Displacement is a separate Arc option.
![Image]
xx1400002380
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6 Seam Displacement options
6.1 General
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Description
Value
Constant
Executing service routine
4
GAP_STATE_SERV
Example:
VAR num PMState;
PMState:=AtState();
IF PMState = GAP_STATE_IDLE THEN
TPWrite "Production Manager waiting for job";
ENDIF
Events
Public constants to be used when defining events:
Description
Value
Constant
Runs when exec engine starts
1
EE-START
Runs right after OP pressed/order from PLC
2
EE_CYCLE_START
Runs before menu executes
3
EE_PROC_START
General pre-production event
4
EE_PRE_PROD
Close jig
5
EE_CLOSE_JIG
Index IRBP
6
EE_INDEX
Runs before part
7
EE_PRE_PART
Runs after part
8
EE_POST_PART
Open jig
9
EE_OPEN_JIG
Run service of tool/other
10
EE_SERVICE
General post-production event
11
EE_POST_PROD
Abort cycle
12
EE_ABORT
Waiting for an order.
13
EE_WAIT_ORDER
Runs after menu
14
EE_POST_PROC
80
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3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
5 RAPID references
5.3 Public constants
Continued
6 Seam Displacement options
6.1 General
Overview
The Seam Displacement option allows the operator to shift seams in relation to a
reference frame. The displacements can be applied via FlexPendant operator
screens without stopping production. It is possible to shift an entire weld or targets
within a seam individually. The operator can enter offsets at any point in time,
whether the robot is welding or not. The applied changes will take effect in the next
production cycle. This lets the operator visually inspect a part, apply seam offsets
where needed, and the changes will take effect when the next part is welded.
User restrictions
The functions available in Seam Displacement may be restricted by the user
authorization system, UAS.
About the option
The Seam Displacement is a separate Arc option.
![Image]
xx1400002380
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81
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.1 General
6.2 Starting Seam Displacement option
The seam displacement option is started as follows:
1
Go to the ABB menu and launch the Production Manager .
![Image]
xx1400002330
2
In the Production Manager main menu select Part Handling .
![Image]
xx1400002331
Continues on next page
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6 Seam Displacement options
6.2 Starting Seam Displacement option
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| 82
|
6 Seam Displacement options
6.1 General
Overview
The Seam Displacement option allows the operator to shift seams in relation to a
reference frame. The displacements can be applied via FlexPendant operator
screens without stopping production. It is possible to shift an entire weld or targets
within a seam individually. The operator can enter offsets at any point in time,
whether the robot is welding or not. The applied changes will take effect in the next
production cycle. This lets the operator visually inspect a part, apply seam offsets
where needed, and the changes will take effect when the next part is welded.
User restrictions
The functions available in Seam Displacement may be restricted by the user
authorization system, UAS.
About the option
The Seam Displacement is a separate Arc option.
![Image]
xx1400002380
Application manual - Production Manager
81
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.1 General
6.2 Starting Seam Displacement option
The seam displacement option is started as follows:
1
Go to the ABB menu and launch the Production Manager .
![Image]
xx1400002330
2
In the Production Manager main menu select Part Handling .
![Image]
xx1400002331
Continues on next page
82
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3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.2 Starting Seam Displacement option
3
Tap Seam Displacement on the bottom menu.
![Image]
xx1400002381
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83
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.2 Starting Seam Displacement option
Continued
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| 83
|
6.2 Starting Seam Displacement option
The seam displacement option is started as follows:
1
Go to the ABB menu and launch the Production Manager .
![Image]
xx1400002330
2
In the Production Manager main menu select Part Handling .
![Image]
xx1400002331
Continues on next page
82
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3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.2 Starting Seam Displacement option
3
Tap Seam Displacement on the bottom menu.
![Image]
xx1400002381
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83
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.2 Starting Seam Displacement option
Continued
6.3 Functions available in Seam Displacement
FlexPendant screen appearence
![Image]
xx1400002401
Seam Displacement dialog
Description
Select welds from the tree view and add them to the right-hand section
by selecting the arrow.
Note
If a weld is used in more than one routine, it will appear the same
everywhere it is used. Changes made to the offset will be the same for
everywhere it is used.
Target selection
Lists all selected targets within a weld and their current offset. Select
the recycle bin to the right to remove the target from the selection.
Selected targets
You can save and load selections of often-used targets using the File
menu. If your system uses UAS, this may be the only way to select targets
for editing.
File
To apply or reject the changes made to offset values, select:
•
Restore to original to discard all changes to the currently selected
target positions
•
Restore entire program to original to discard all changes to target
positions (also applies to changes made in the program editor)
•
Commit to current to apply all current changes to the selected
target positions
•
Commit entire program to current to apply all changes to target
positions (also applies to changes made in the program editor)
Baseline
Tap Tune targets to display a keyboard for editing the offset values. The
offset value is the length of the vector calculated from the x, y and z
values changed in the Tune targets menu.
Tune targets
Tap APPLY to apply changes made in the Tune targets menu.
APPLY
Continues on next page
84
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6 Seam Displacement options
6.3 Functions available in Seam Displacement
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|
3
Tap Seam Displacement on the bottom menu.
![Image]
xx1400002381
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83
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.2 Starting Seam Displacement option
Continued
6.3 Functions available in Seam Displacement
FlexPendant screen appearence
![Image]
xx1400002401
Seam Displacement dialog
Description
Select welds from the tree view and add them to the right-hand section
by selecting the arrow.
Note
If a weld is used in more than one routine, it will appear the same
everywhere it is used. Changes made to the offset will be the same for
everywhere it is used.
Target selection
Lists all selected targets within a weld and their current offset. Select
the recycle bin to the right to remove the target from the selection.
Selected targets
You can save and load selections of often-used targets using the File
menu. If your system uses UAS, this may be the only way to select targets
for editing.
File
To apply or reject the changes made to offset values, select:
•
Restore to original to discard all changes to the currently selected
target positions
•
Restore entire program to original to discard all changes to target
positions (also applies to changes made in the program editor)
•
Commit to current to apply all current changes to the selected
target positions
•
Commit entire program to current to apply all changes to target
positions (also applies to changes made in the program editor)
Baseline
Tap Tune targets to display a keyboard for editing the offset values. The
offset value is the length of the vector calculated from the x, y and z
values changed in the Tune targets menu.
Tune targets
Tap APPLY to apply changes made in the Tune targets menu.
APPLY
Continues on next page
84
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3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.3 Functions available in Seam Displacement
Related information
Positions can also be modified by jogging the robot to the new position.
Application manual - Production Manager
85
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.3 Functions available in Seam Displacement
Continued
|
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| 85
|
6.3 Functions available in Seam Displacement
FlexPendant screen appearence
![Image]
xx1400002401
Seam Displacement dialog
Description
Select welds from the tree view and add them to the right-hand section
by selecting the arrow.
Note
If a weld is used in more than one routine, it will appear the same
everywhere it is used. Changes made to the offset will be the same for
everywhere it is used.
Target selection
Lists all selected targets within a weld and their current offset. Select
the recycle bin to the right to remove the target from the selection.
Selected targets
You can save and load selections of often-used targets using the File
menu. If your system uses UAS, this may be the only way to select targets
for editing.
File
To apply or reject the changes made to offset values, select:
•
Restore to original to discard all changes to the currently selected
target positions
•
Restore entire program to original to discard all changes to target
positions (also applies to changes made in the program editor)
•
Commit to current to apply all current changes to the selected
target positions
•
Commit entire program to current to apply all changes to target
positions (also applies to changes made in the program editor)
Baseline
Tap Tune targets to display a keyboard for editing the offset values. The
offset value is the length of the vector calculated from the x, y and z
values changed in the Tune targets menu.
Tune targets
Tap APPLY to apply changes made in the Tune targets menu.
APPLY
Continues on next page
84
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3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.3 Functions available in Seam Displacement
Related information
Positions can also be modified by jogging the robot to the new position.
Application manual - Production Manager
85
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.3 Functions available in Seam Displacement
Continued
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| 86
|
Related information
Positions can also be modified by jogging the robot to the new position.
Application manual - Production Manager
85
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.3 Functions available in Seam Displacement
Continued
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Index
A
API, 9
C
configuration, 53
constants, 79
create menu, 26
create part, 41
custom application window, 50
D
debug part, 37
dynamic part, 43
dynamic parts and menus, 16
E
edit menu, 32
edit part, 47
EE_ABORT, 80
EE_CLOSE_JIG, 80
EE_CYCLE_START, 80
EE_INDEX, 80
EE_OPEN_JIG, 80
EE_POST_PART, 80
EE_POST_PROC, 80
EE_POST_PROD, 80
EE_PRE_PART, 80
EE_PRE_PROD, 80
EE_PROC_START, 80
EE_SERVICE, 80
EE_WAIT_ORDER, 80
EE-START, 80
events, 12, 80
ExecEngine, 67
Execution Engine, 10
execution state, 79
F
filter, 34
functions, 72
G
GAP_SERVICE_TYPE, 79
GAP_SETUP_TYPE, 79
GAP_SHOW_ALWAYS, 79
GAP_SHOW_NEVER, 79
GAP_SHOW_SAFE, 79
GAP_SHOW_SERVICE, 79
GAP_STATE_IDLE, 79
GAP_STATE_PART, 79
GAP_STATE_SERV, 80
GAP_STATE_UNKN, 79
GAP_TASK_NAME, 79
GAP_TASK_NO, 79
I
icons, 51
instructions, 67
M
main menu, 20
menudata, 15
MultiMove, 21, 57
N
new menu, 26
new part, 41
P
partdata, 15
Part handler, 37
PLC support, 61
PMgrAtSafe, 72
PMgrAtService, 73
PMgrAtState, 74
PMgrAtStation, 75
PMgrGetNextPart, 68
PMgrNextStation, 76
PMgrRunMenu, 71
PMgrSetNextPart, 70
PMgrTaskName, 78
PMgrTaskNumber, 77
preview, 39
Production Information, 35
Production Screen, 20
public constants, 79
R
RAPID constants, 79
RAPID functions, 72
RAPID instructions, 67
S
Seam Displacement, 81
Service menu, 24
Setup menu, 22
starting Production Manager, 19
state icons, 51
system parameters, 53
T
test part, 49
U
User Authorization System, 58
user interface, 19
Application manual - Production Manager
87
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© Copyright 2014-2021 ABB. All rights reserved.
Index
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| 87
|
This page is intentionally left blank
Index
A
API, 9
C
configuration, 53
constants, 79
create menu, 26
create part, 41
custom application window, 50
D
debug part, 37
dynamic part, 43
dynamic parts and menus, 16
E
edit menu, 32
edit part, 47
EE_ABORT, 80
EE_CLOSE_JIG, 80
EE_CYCLE_START, 80
EE_INDEX, 80
EE_OPEN_JIG, 80
EE_POST_PART, 80
EE_POST_PROC, 80
EE_POST_PROD, 80
EE_PRE_PART, 80
EE_PRE_PROD, 80
EE_PROC_START, 80
EE_SERVICE, 80
EE_WAIT_ORDER, 80
EE-START, 80
events, 12, 80
ExecEngine, 67
Execution Engine, 10
execution state, 79
F
filter, 34
functions, 72
G
GAP_SERVICE_TYPE, 79
GAP_SETUP_TYPE, 79
GAP_SHOW_ALWAYS, 79
GAP_SHOW_NEVER, 79
GAP_SHOW_SAFE, 79
GAP_SHOW_SERVICE, 79
GAP_STATE_IDLE, 79
GAP_STATE_PART, 79
GAP_STATE_SERV, 80
GAP_STATE_UNKN, 79
GAP_TASK_NAME, 79
GAP_TASK_NO, 79
I
icons, 51
instructions, 67
M
main menu, 20
menudata, 15
MultiMove, 21, 57
N
new menu, 26
new part, 41
P
partdata, 15
Part handler, 37
PLC support, 61
PMgrAtSafe, 72
PMgrAtService, 73
PMgrAtState, 74
PMgrAtStation, 75
PMgrGetNextPart, 68
PMgrNextStation, 76
PMgrRunMenu, 71
PMgrSetNextPart, 70
PMgrTaskName, 78
PMgrTaskNumber, 77
preview, 39
Production Information, 35
Production Screen, 20
public constants, 79
R
RAPID constants, 79
RAPID functions, 72
RAPID instructions, 67
S
Seam Displacement, 81
Service menu, 24
Setup menu, 22
starting Production Manager, 19
state icons, 51
system parameters, 53
T
test part, 49
U
User Authorization System, 58
user interface, 19
Application manual - Production Manager
87
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© Copyright 2014-2021 ABB. All rights reserved.
Index
|
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| 88
|
Index
A
API, 9
C
configuration, 53
constants, 79
create menu, 26
create part, 41
custom application window, 50
D
debug part, 37
dynamic part, 43
dynamic parts and menus, 16
E
edit menu, 32
edit part, 47
EE_ABORT, 80
EE_CLOSE_JIG, 80
EE_CYCLE_START, 80
EE_INDEX, 80
EE_OPEN_JIG, 80
EE_POST_PART, 80
EE_POST_PROC, 80
EE_POST_PROD, 80
EE_PRE_PART, 80
EE_PRE_PROD, 80
EE_PROC_START, 80
EE_SERVICE, 80
EE_WAIT_ORDER, 80
EE-START, 80
events, 12, 80
ExecEngine, 67
Execution Engine, 10
execution state, 79
F
filter, 34
functions, 72
G
GAP_SERVICE_TYPE, 79
GAP_SETUP_TYPE, 79
GAP_SHOW_ALWAYS, 79
GAP_SHOW_NEVER, 79
GAP_SHOW_SAFE, 79
GAP_SHOW_SERVICE, 79
GAP_STATE_IDLE, 79
GAP_STATE_PART, 79
GAP_STATE_SERV, 80
GAP_STATE_UNKN, 79
GAP_TASK_NAME, 79
GAP_TASK_NO, 79
I
icons, 51
instructions, 67
M
main menu, 20
menudata, 15
MultiMove, 21, 57
N
new menu, 26
new part, 41
P
partdata, 15
Part handler, 37
PLC support, 61
PMgrAtSafe, 72
PMgrAtService, 73
PMgrAtState, 74
PMgrAtStation, 75
PMgrGetNextPart, 68
PMgrNextStation, 76
PMgrRunMenu, 71
PMgrSetNextPart, 70
PMgrTaskName, 78
PMgrTaskNumber, 77
preview, 39
Production Information, 35
Production Screen, 20
public constants, 79
R
RAPID constants, 79
RAPID functions, 72
RAPID instructions, 67
S
Seam Displacement, 81
Service menu, 24
Setup menu, 22
starting Production Manager, 19
state icons, 51
system parameters, 53
T
test part, 49
U
User Authorization System, 58
user interface, 19
Application manual - Production Manager
87
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© Copyright 2014-2021 ABB. All rights reserved.
Index
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| 89
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC052855-001, Rev C, en
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Production_Manager
|
https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf
| 90
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC052855-001, Rev C, en
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 1
|
ROBOTICS
Application manual
Arc and Arc Sensor
![Image]
Trace back information:
Workspace 24B version a1
Checked in 2024-05-30
Skribenta version 5.5.019
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
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| 2
|
ROBOTICS
Application manual
Arc and Arc Sensor
![Image]
Trace back information:
Workspace 24B version a1
Checked in 2024-05-30
Skribenta version 5.5.019
Application manual
Arc and Arc Sensor
RobotWare 6.15.07
Document ID: 3HAC050988-001
Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 3
|
Trace back information:
Workspace 24B version a1
Checked in 2024-05-30
Skribenta version 5.5.019
Application manual
Arc and Arc Sensor
RobotWare 6.15.07
Document ID: 3HAC050988-001
Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 4
|
Application manual
Arc and Arc Sensor
RobotWare 6.15.07
Document ID: 3HAC050988-001
Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this manual ...................................................................................................................
9
1
Installation and setup
11
2
RobotWare - Arc Adaptive process control
11
2.1
Adaptive Process Control ...................................................................................
12
2.2
Seam tracking ..................................................................................................
12
2.2.1
Seam tracking systems ............................................................................
13
2.2.2
Seam tracking in different instructions ........................................................
15
2.2.3
Optical tracking .......................................................................................
16
2.2.4
WeldGuide .............................................................................................
18
2.3
Sensor controlled tuning .....................................................................................
19
2.4
Program controlled tuning ...................................................................................
21
3
Programming
21
3.1
Programming for arc welding ...............................................................................
26
3.2
Functions for arc welding when program execution has been stopped ........................
32
3.3
Functions for arc welding during program execution ................................................
35
4
Programming RobotWare Arc systems with MultiMove
35
4.1
RobotWare Arc with MultiMove ............................................................................
36
4.2
Functions for arc welding during program execution ................................................
37
4.3
Configuration ...................................................................................................
41
4.4
Limitations .......................................................................................................
43
5
Weld Error Recovery
43
5.1
Weld Error Recovery and error handling ................................................................
45
5.2
Programming Weld Error Recovery ......................................................................
54
5.3
Weld Error Recovery flowchart ............................................................................
55
5.4
Configuring Weld Error Recovery .........................................................................
57
5.5
Configure the recovery menu ..............................................................................
59
5.6
Weld Error Recovery I/O interface ........................................................................
68
5.7
Configure weld error recovery I/O Interface ............................................................
70
5.8
Configure User defined error handling ...................................................................
72
5.9
User defined error handling .................................................................................
75
6
Weld Repair
75
6.1
Introduction ......................................................................................................
77
6.2
Configuring Weld Repair .....................................................................................
82
6.3
Best practice ....................................................................................................
85
6.4
Full Automatic Mode ..........................................................................................
92
6.5
Semi Automatic Mode ........................................................................................
101
7
RAPID reference
101
7.1
Instructions ......................................................................................................
101
7.1.1
ArcC, ArcC1, ArcC2 - Arc welding with circular motion ...................................
110
7.1.2
ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion .............
120
7.1.3
ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion .........
129
7.1.4
ArcL, ArcL1, ArcL2 - Arc welding with linear motion .......................................
138
7.1.5
ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion .................
147
7.1.6
ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion .............
156
7.1.7
ArcMoveExtJ - Move one or several mechanical units without TCP ...................
158
7.1.8
ArcRefresh - Refresh arc weld data ............................................................
160
7.1.9
RecoveryMenu - Display the recovery menu .................................................
162
7.1.10 RecoveryMenuWR - Display the recovery menu ............................................
Application manual - Arc and Arc Sensor
5
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 5
|
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this manual ...................................................................................................................
9
1
Installation and setup
11
2
RobotWare - Arc Adaptive process control
11
2.1
Adaptive Process Control ...................................................................................
12
2.2
Seam tracking ..................................................................................................
12
2.2.1
Seam tracking systems ............................................................................
13
2.2.2
Seam tracking in different instructions ........................................................
15
2.2.3
Optical tracking .......................................................................................
16
2.2.4
WeldGuide .............................................................................................
18
2.3
Sensor controlled tuning .....................................................................................
19
2.4
Program controlled tuning ...................................................................................
21
3
Programming
21
3.1
Programming for arc welding ...............................................................................
26
3.2
Functions for arc welding when program execution has been stopped ........................
32
3.3
Functions for arc welding during program execution ................................................
35
4
Programming RobotWare Arc systems with MultiMove
35
4.1
RobotWare Arc with MultiMove ............................................................................
36
4.2
Functions for arc welding during program execution ................................................
37
4.3
Configuration ...................................................................................................
41
4.4
Limitations .......................................................................................................
43
5
Weld Error Recovery
43
5.1
Weld Error Recovery and error handling ................................................................
45
5.2
Programming Weld Error Recovery ......................................................................
54
5.3
Weld Error Recovery flowchart ............................................................................
55
5.4
Configuring Weld Error Recovery .........................................................................
57
5.5
Configure the recovery menu ..............................................................................
59
5.6
Weld Error Recovery I/O interface ........................................................................
68
5.7
Configure weld error recovery I/O Interface ............................................................
70
5.8
Configure User defined error handling ...................................................................
72
5.9
User defined error handling .................................................................................
75
6
Weld Repair
75
6.1
Introduction ......................................................................................................
77
6.2
Configuring Weld Repair .....................................................................................
82
6.3
Best practice ....................................................................................................
85
6.4
Full Automatic Mode ..........................................................................................
92
6.5
Semi Automatic Mode ........................................................................................
101
7
RAPID reference
101
7.1
Instructions ......................................................................................................
101
7.1.1
ArcC, ArcC1, ArcC2 - Arc welding with circular motion ...................................
110
7.1.2
ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion .............
120
7.1.3
ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion .........
129
7.1.4
ArcL, ArcL1, ArcL2 - Arc welding with linear motion .......................................
138
7.1.5
ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion .................
147
7.1.6
ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion .............
156
7.1.7
ArcMoveExtJ - Move one or several mechanical units without TCP ...................
158
7.1.8
ArcRefresh - Refresh arc weld data ............................................................
160
7.1.9
RecoveryMenu - Display the recovery menu .................................................
162
7.1.10 RecoveryMenuWR - Display the recovery menu ............................................
Application manual - Arc and Arc Sensor
5
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Table of contents
164
7.1.11 RecoveryPosSet - Set the recovery position .................................................
167
7.1.12 RecoveryPosReset - Reset the recovery position ..........................................
169
7.1.13 SetWRProcName - Set name of process to re-execute ...................................
170
7.2
Data types .......................................................................................................
170
7.2.1
advSeamData - Advanced seam data ..........................................................
173
7.2.2
arcdata - Arc data ....................................................................................
175
7.2.3
flystartdata - Flying start data ....................................................................
176
7.2.4
seamdata - Seam data .............................................................................
182
7.2.5
trackdata - Seam tracking data ..................................................................
188
7.2.6
weavedata - Weave data ...........................................................................
195
7.2.7
welddata - Weld data ...............................................................................
201
8
System parameters
201
8.1
Introduction ......................................................................................................
203
8.2
The group Arc System ........................................................................................
203
8.2.1
The type Arc System settings ....................................................................
204
8.2.2
The type Arc System Properties .................................................................
208
8.2.3
The type Arc Robot Properties ...................................................................
212
8.2.4
The type Arc Units ...................................................................................
213
8.2.5
The type Arc Equipment ...........................................................................
214
8.2.6
The type Arc Equipment Class ...................................................................
215
8.3
The group Generic Equipment Class .....................................................................
215
8.3.1
The type Arc Equipment Properties ............................................................
219
8.3.2
The type Arc Equipment Digital Inputs ........................................................
222
8.3.3
The type Arc Equipment Digital Outputs ......................................................
224
8.3.4
The type Arc Equipment Analog Outputs .....................................................
225
8.3.5
The type Arc Equipment Analog Inputs ........................................................
226
8.3.6
The type Arc Equipment Group Outputs ......................................................
227
8.4
The group Optical Sensor ...................................................................................
227
8.4.1
The type Optical Sensor ...........................................................................
228
8.4.2
The type Optical Sensor Properties ............................................................
231
8.5
Configurable error handling .................................................................................
233
8.6
Data masking ...................................................................................................
237
8.7
Welder Ready Supervision for StdIoWelder interface ...............................................
241
Index
6
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 6
|
Table of contents
7
Overview of this manual ...................................................................................................................
9
1
Installation and setup
11
2
RobotWare - Arc Adaptive process control
11
2.1
Adaptive Process Control ...................................................................................
12
2.2
Seam tracking ..................................................................................................
12
2.2.1
Seam tracking systems ............................................................................
13
2.2.2
Seam tracking in different instructions ........................................................
15
2.2.3
Optical tracking .......................................................................................
16
2.2.4
WeldGuide .............................................................................................
18
2.3
Sensor controlled tuning .....................................................................................
19
2.4
Program controlled tuning ...................................................................................
21
3
Programming
21
3.1
Programming for arc welding ...............................................................................
26
3.2
Functions for arc welding when program execution has been stopped ........................
32
3.3
Functions for arc welding during program execution ................................................
35
4
Programming RobotWare Arc systems with MultiMove
35
4.1
RobotWare Arc with MultiMove ............................................................................
36
4.2
Functions for arc welding during program execution ................................................
37
4.3
Configuration ...................................................................................................
41
4.4
Limitations .......................................................................................................
43
5
Weld Error Recovery
43
5.1
Weld Error Recovery and error handling ................................................................
45
5.2
Programming Weld Error Recovery ......................................................................
54
5.3
Weld Error Recovery flowchart ............................................................................
55
5.4
Configuring Weld Error Recovery .........................................................................
57
5.5
Configure the recovery menu ..............................................................................
59
5.6
Weld Error Recovery I/O interface ........................................................................
68
5.7
Configure weld error recovery I/O Interface ............................................................
70
5.8
Configure User defined error handling ...................................................................
72
5.9
User defined error handling .................................................................................
75
6
Weld Repair
75
6.1
Introduction ......................................................................................................
77
6.2
Configuring Weld Repair .....................................................................................
82
6.3
Best practice ....................................................................................................
85
6.4
Full Automatic Mode ..........................................................................................
92
6.5
Semi Automatic Mode ........................................................................................
101
7
RAPID reference
101
7.1
Instructions ......................................................................................................
101
7.1.1
ArcC, ArcC1, ArcC2 - Arc welding with circular motion ...................................
110
7.1.2
ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion .............
120
7.1.3
ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion .........
129
7.1.4
ArcL, ArcL1, ArcL2 - Arc welding with linear motion .......................................
138
7.1.5
ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion .................
147
7.1.6
ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion .............
156
7.1.7
ArcMoveExtJ - Move one or several mechanical units without TCP ...................
158
7.1.8
ArcRefresh - Refresh arc weld data ............................................................
160
7.1.9
RecoveryMenu - Display the recovery menu .................................................
162
7.1.10 RecoveryMenuWR - Display the recovery menu ............................................
Application manual - Arc and Arc Sensor
5
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Table of contents
164
7.1.11 RecoveryPosSet - Set the recovery position .................................................
167
7.1.12 RecoveryPosReset - Reset the recovery position ..........................................
169
7.1.13 SetWRProcName - Set name of process to re-execute ...................................
170
7.2
Data types .......................................................................................................
170
7.2.1
advSeamData - Advanced seam data ..........................................................
173
7.2.2
arcdata - Arc data ....................................................................................
175
7.2.3
flystartdata - Flying start data ....................................................................
176
7.2.4
seamdata - Seam data .............................................................................
182
7.2.5
trackdata - Seam tracking data ..................................................................
188
7.2.6
weavedata - Weave data ...........................................................................
195
7.2.7
welddata - Weld data ...............................................................................
201
8
System parameters
201
8.1
Introduction ......................................................................................................
203
8.2
The group Arc System ........................................................................................
203
8.2.1
The type Arc System settings ....................................................................
204
8.2.2
The type Arc System Properties .................................................................
208
8.2.3
The type Arc Robot Properties ...................................................................
212
8.2.4
The type Arc Units ...................................................................................
213
8.2.5
The type Arc Equipment ...........................................................................
214
8.2.6
The type Arc Equipment Class ...................................................................
215
8.3
The group Generic Equipment Class .....................................................................
215
8.3.1
The type Arc Equipment Properties ............................................................
219
8.3.2
The type Arc Equipment Digital Inputs ........................................................
222
8.3.3
The type Arc Equipment Digital Outputs ......................................................
224
8.3.4
The type Arc Equipment Analog Outputs .....................................................
225
8.3.5
The type Arc Equipment Analog Inputs ........................................................
226
8.3.6
The type Arc Equipment Group Outputs ......................................................
227
8.4
The group Optical Sensor ...................................................................................
227
8.4.1
The type Optical Sensor ...........................................................................
228
8.4.2
The type Optical Sensor Properties ............................................................
231
8.5
Configurable error handling .................................................................................
233
8.6
Data masking ...................................................................................................
237
8.7
Welder Ready Supervision for StdIoWelder interface ...............................................
241
Index
6
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Table of contents
Overview of this manual
About this manual
This manual contains instructions for installing and programming a RobotWare
Arc and Arc sensor system.
Note
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Prerequisites
Installation/maintenance/repair personnel working with an ABB Robot must be
trained by ABB and have the knowledge required for mechanical and electrical
installation/maintenance/repair work.
Note
Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.
References
Document ID
References
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC032104-001
Operating manual - RobotStudio
3HEA802921-001
Operating manual - Seam tracking with Weldguide III and
MultiPass
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
3HAC050798-001
Application manual - Controller software IRC5
3HAC050961-001
Application manual - MultiMove
Revisions
Description
Revision
Published with RobotWare 6.0.
-
Published with RobotWare 6.01.
A
Published with RobotWare 6.02.
•
Updated options in section Power source type on page 9 .
•
Updated the examples for the RAPID instructions and restructured the
section, see Instructions on page 101 .
B
Continues on next page
Application manual - Arc and Arc Sensor
7
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Overview of this manual
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 7
|
164
7.1.11 RecoveryPosSet - Set the recovery position .................................................
167
7.1.12 RecoveryPosReset - Reset the recovery position ..........................................
169
7.1.13 SetWRProcName - Set name of process to re-execute ...................................
170
7.2
Data types .......................................................................................................
170
7.2.1
advSeamData - Advanced seam data ..........................................................
173
7.2.2
arcdata - Arc data ....................................................................................
175
7.2.3
flystartdata - Flying start data ....................................................................
176
7.2.4
seamdata - Seam data .............................................................................
182
7.2.5
trackdata - Seam tracking data ..................................................................
188
7.2.6
weavedata - Weave data ...........................................................................
195
7.2.7
welddata - Weld data ...............................................................................
201
8
System parameters
201
8.1
Introduction ......................................................................................................
203
8.2
The group Arc System ........................................................................................
203
8.2.1
The type Arc System settings ....................................................................
204
8.2.2
The type Arc System Properties .................................................................
208
8.2.3
The type Arc Robot Properties ...................................................................
212
8.2.4
The type Arc Units ...................................................................................
213
8.2.5
The type Arc Equipment ...........................................................................
214
8.2.6
The type Arc Equipment Class ...................................................................
215
8.3
The group Generic Equipment Class .....................................................................
215
8.3.1
The type Arc Equipment Properties ............................................................
219
8.3.2
The type Arc Equipment Digital Inputs ........................................................
222
8.3.3
The type Arc Equipment Digital Outputs ......................................................
224
8.3.4
The type Arc Equipment Analog Outputs .....................................................
225
8.3.5
The type Arc Equipment Analog Inputs ........................................................
226
8.3.6
The type Arc Equipment Group Outputs ......................................................
227
8.4
The group Optical Sensor ...................................................................................
227
8.4.1
The type Optical Sensor ...........................................................................
228
8.4.2
The type Optical Sensor Properties ............................................................
231
8.5
Configurable error handling .................................................................................
233
8.6
Data masking ...................................................................................................
237
8.7
Welder Ready Supervision for StdIoWelder interface ...............................................
241
Index
6
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Table of contents
Overview of this manual
About this manual
This manual contains instructions for installing and programming a RobotWare
Arc and Arc sensor system.
Note
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Prerequisites
Installation/maintenance/repair personnel working with an ABB Robot must be
trained by ABB and have the knowledge required for mechanical and electrical
installation/maintenance/repair work.
Note
Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.
References
Document ID
References
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC032104-001
Operating manual - RobotStudio
3HEA802921-001
Operating manual - Seam tracking with Weldguide III and
MultiPass
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
3HAC050798-001
Application manual - Controller software IRC5
3HAC050961-001
Application manual - MultiMove
Revisions
Description
Revision
Published with RobotWare 6.0.
-
Published with RobotWare 6.01.
A
Published with RobotWare 6.02.
•
Updated options in section Power source type on page 9 .
•
Updated the examples for the RAPID instructions and restructured the
section, see Instructions on page 101 .
B
Continues on next page
Application manual - Arc and Arc Sensor
7
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Overview of this manual
Description
Revision
Published with RobotWare 6.04.
•
The manual is partly restructured.
•
Added information about flying start.
•
Minor corrections.
C
Published with RobotWare 6.05.
•
Added information about Pre Process Tracking .
•
Minor corrections.
D
Published with RobotWare 6.07.
•
Protocol LTPROTOBUF added to sensor interface.
•
Added track mode 13, 14 and 15 to section trackdata - Seam tracking
data on page 182 .
•
Minor corrections.
E
Published with RobotWare 6.09.
•
Updated information for ArcMoveExtJ .
•
Limitation information updated for instructions:
ArcC , ArcC1 , ArcC2
ArcCEnd , ArcC1End , ArcC2End
ArcCStart , ArcC1Start , ArcC2Start
ArcL , ArcL1 , ArcL2
ArcLEnd , ArcL1End , ArcL2End
ArcLStart , ArcL1Start , ArcL2Start
ArcMoveExtJ
ArcRefresh
•
Updated information for WeldRepair with FlexPositioner.
•
Added information about Add-Ins, see Power source type on page 9 .
•
Added Stop Mode , see The type Arc System Properties on page204 and
The type Arc Robot Properties on page 208 .
F
Published with RobotWare 6.11.
•
Added limitation for seamdata .
G
Published with RobotWare 6.13.
•
Added WelderReady supervision for standard I/O welder.
H
Published with RobotWare 6.14.
•
The system parameter SupervInhib is removed from the type The type
Arc Equipment Digital Inputs on page 219 .
J
Published with RobotWare 6.15.06.
•
Minor corrections.
K
Published with RobotWare 6.15.07.
•
Added new optional argument \TrackOffsetFrame .
L
8
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Application_Manual_Arc_and_Arc_Sensor
|
https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 8
|
Overview of this manual
About this manual
This manual contains instructions for installing and programming a RobotWare
Arc and Arc sensor system.
Note
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Prerequisites
Installation/maintenance/repair personnel working with an ABB Robot must be
trained by ABB and have the knowledge required for mechanical and electrical
installation/maintenance/repair work.
Note
Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.
References
Document ID
References
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC032104-001
Operating manual - RobotStudio
3HEA802921-001
Operating manual - Seam tracking with Weldguide III and
MultiPass
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
3HAC050798-001
Application manual - Controller software IRC5
3HAC050961-001
Application manual - MultiMove
Revisions
Description
Revision
Published with RobotWare 6.0.
-
Published with RobotWare 6.01.
A
Published with RobotWare 6.02.
•
Updated options in section Power source type on page 9 .
•
Updated the examples for the RAPID instructions and restructured the
section, see Instructions on page 101 .
B
Continues on next page
Application manual - Arc and Arc Sensor
7
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Overview of this manual
Description
Revision
Published with RobotWare 6.04.
•
The manual is partly restructured.
•
Added information about flying start.
•
Minor corrections.
C
Published with RobotWare 6.05.
•
Added information about Pre Process Tracking .
•
Minor corrections.
D
Published with RobotWare 6.07.
•
Protocol LTPROTOBUF added to sensor interface.
•
Added track mode 13, 14 and 15 to section trackdata - Seam tracking
data on page 182 .
•
Minor corrections.
E
Published with RobotWare 6.09.
•
Updated information for ArcMoveExtJ .
•
Limitation information updated for instructions:
ArcC , ArcC1 , ArcC2
ArcCEnd , ArcC1End , ArcC2End
ArcCStart , ArcC1Start , ArcC2Start
ArcL , ArcL1 , ArcL2
ArcLEnd , ArcL1End , ArcL2End
ArcLStart , ArcL1Start , ArcL2Start
ArcMoveExtJ
ArcRefresh
•
Updated information for WeldRepair with FlexPositioner.
•
Added information about Add-Ins, see Power source type on page 9 .
•
Added Stop Mode , see The type Arc System Properties on page204 and
The type Arc Robot Properties on page 208 .
F
Published with RobotWare 6.11.
•
Added limitation for seamdata .
G
Published with RobotWare 6.13.
•
Added WelderReady supervision for standard I/O welder.
H
Published with RobotWare 6.14.
•
The system parameter SupervInhib is removed from the type The type
Arc Equipment Digital Inputs on page 219 .
J
Published with RobotWare 6.15.06.
•
Minor corrections.
K
Published with RobotWare 6.15.07.
•
Added new optional argument \TrackOffsetFrame .
L
8
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Overview of this manual
Continued
1 Installation and setup
Installation options
The installation of RobotWare Arc can be customized to fit various application
demands, such as a different power source types and MultiMove support.
The following options can be selected in RobotStudio when creating the system,
and then customized according to application demands:
•
Power source type
•
651-1 Additional Arc Systems
•
660-1 Optical Tracking Arc
Tip
How to create systems in RobotStudio is described in Operating
manual - RobotStudio .
Power source type
The following power sources can be selected from Installation Manager in
RobotStudio during installation.
Description
Power source interface
Standard I/O Welder
Standard I/O Welder
Simulated Welder
Simulated Welder
Fronius Welder
•
Integrated version
•
DeviceNet configuration
•
EtherNet/IP configuration
Fronius
•
Integrated version
•
DeviceNet
•
EtherNet/IP
ESAB AristoMig Welder
ESAB AristoMig integrated
Lincoln ArcLink XT Welder
Lincoln ArcLink XT
SKS SynchroWeld Welder
•
DeviceNet configuration
•
ProfiBus configuration
•
ProfiNet configuration
SKS SynchroWeld
•
DeviceNet
•
ProfiBus
•
ProfiNet
The Add-ins are found here:
RW Add-in loaded Welder
RobotStudio/Add-ins/Gallery/Common tags:
RobotWare-Addin
If no power source is selected, the Standard I/O Welder will be loaded.
If RW Add-in loaded Welder is selected, only the basic functionality of RobotWare
Arc will be loaded without any power source specific functionality. The welder must
be loaded from a RobotWare Add-in.
RW Add-in loaded Welder
The following Add-ins are available:
•
Fronius TPSi
•
Fronius TPSi Seamtracking
Continues on next page
Application manual - Arc and Arc Sensor
9
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
1 Installation and setup
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ABB_Application_Manual_Arc_and_Arc_Sensor
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| 9
|
Description
Revision
Published with RobotWare 6.04.
•
The manual is partly restructured.
•
Added information about flying start.
•
Minor corrections.
C
Published with RobotWare 6.05.
•
Added information about Pre Process Tracking .
•
Minor corrections.
D
Published with RobotWare 6.07.
•
Protocol LTPROTOBUF added to sensor interface.
•
Added track mode 13, 14 and 15 to section trackdata - Seam tracking
data on page 182 .
•
Minor corrections.
E
Published with RobotWare 6.09.
•
Updated information for ArcMoveExtJ .
•
Limitation information updated for instructions:
ArcC , ArcC1 , ArcC2
ArcCEnd , ArcC1End , ArcC2End
ArcCStart , ArcC1Start , ArcC2Start
ArcL , ArcL1 , ArcL2
ArcLEnd , ArcL1End , ArcL2End
ArcLStart , ArcL1Start , ArcL2Start
ArcMoveExtJ
ArcRefresh
•
Updated information for WeldRepair with FlexPositioner.
•
Added information about Add-Ins, see Power source type on page 9 .
•
Added Stop Mode , see The type Arc System Properties on page204 and
The type Arc Robot Properties on page 208 .
F
Published with RobotWare 6.11.
•
Added limitation for seamdata .
G
Published with RobotWare 6.13.
•
Added WelderReady supervision for standard I/O welder.
H
Published with RobotWare 6.14.
•
The system parameter SupervInhib is removed from the type The type
Arc Equipment Digital Inputs on page 219 .
J
Published with RobotWare 6.15.06.
•
Minor corrections.
K
Published with RobotWare 6.15.07.
•
Added new optional argument \TrackOffsetFrame .
L
8
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
Overview of this manual
Continued
1 Installation and setup
Installation options
The installation of RobotWare Arc can be customized to fit various application
demands, such as a different power source types and MultiMove support.
The following options can be selected in RobotStudio when creating the system,
and then customized according to application demands:
•
Power source type
•
651-1 Additional Arc Systems
•
660-1 Optical Tracking Arc
Tip
How to create systems in RobotStudio is described in Operating
manual - RobotStudio .
Power source type
The following power sources can be selected from Installation Manager in
RobotStudio during installation.
Description
Power source interface
Standard I/O Welder
Standard I/O Welder
Simulated Welder
Simulated Welder
Fronius Welder
•
Integrated version
•
DeviceNet configuration
•
EtherNet/IP configuration
Fronius
•
Integrated version
•
DeviceNet
•
EtherNet/IP
ESAB AristoMig Welder
ESAB AristoMig integrated
Lincoln ArcLink XT Welder
Lincoln ArcLink XT
SKS SynchroWeld Welder
•
DeviceNet configuration
•
ProfiBus configuration
•
ProfiNet configuration
SKS SynchroWeld
•
DeviceNet
•
ProfiBus
•
ProfiNet
The Add-ins are found here:
RW Add-in loaded Welder
RobotStudio/Add-ins/Gallery/Common tags:
RobotWare-Addin
If no power source is selected, the Standard I/O Welder will be loaded.
If RW Add-in loaded Welder is selected, only the basic functionality of RobotWare
Arc will be loaded without any power source specific functionality. The welder must
be loaded from a RobotWare Add-in.
RW Add-in loaded Welder
The following Add-ins are available:
•
Fronius TPSi
•
Fronius TPSi Seamtracking
Continues on next page
Application manual - Arc and Arc Sensor
9
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
1 Installation and setup
•
Miller EIP Welder (Miller Ethernet IP welder)
•
Lincoln ArcLink/XT
651-1 Additional Arc Systems
The option Additional Arc Systems includes support for additional Arc Systems.
The following additional arc systems can be selected.
Description
Option
Additional arc systems
651-1 Additional Arc Systems
If Additional Arc Systems is selected, the instructions and data types for additional
systems are installed, where X can be either L for linear motion or C for circular
motion.
•
ArcX1Start
•
ArcX1
•
ArcX1End
•
seamdata1
•
welddata1
•
trackdata1
•
ArcX2Start
•
ArcX2
•
ArcX2End
•
seamdata2
•
welddata2
•
trackdata2
660-1 Optical Tracking Arc
The option Optical Tracking Arc includes advanced laser tracking features together
with the ServoRobot M-Spot-90 and the Scout Sensors.
The following optical tracking options can be selected.
Description
Option
Optical tracking with RobotWare Arc.
660-1 Optical Tracking Arc
10
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© Copyright 2004-2024 ABB. All rights reserved.
1 Installation and setup
Continued
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| 10
|
1 Installation and setup
Installation options
The installation of RobotWare Arc can be customized to fit various application
demands, such as a different power source types and MultiMove support.
The following options can be selected in RobotStudio when creating the system,
and then customized according to application demands:
•
Power source type
•
651-1 Additional Arc Systems
•
660-1 Optical Tracking Arc
Tip
How to create systems in RobotStudio is described in Operating
manual - RobotStudio .
Power source type
The following power sources can be selected from Installation Manager in
RobotStudio during installation.
Description
Power source interface
Standard I/O Welder
Standard I/O Welder
Simulated Welder
Simulated Welder
Fronius Welder
•
Integrated version
•
DeviceNet configuration
•
EtherNet/IP configuration
Fronius
•
Integrated version
•
DeviceNet
•
EtherNet/IP
ESAB AristoMig Welder
ESAB AristoMig integrated
Lincoln ArcLink XT Welder
Lincoln ArcLink XT
SKS SynchroWeld Welder
•
DeviceNet configuration
•
ProfiBus configuration
•
ProfiNet configuration
SKS SynchroWeld
•
DeviceNet
•
ProfiBus
•
ProfiNet
The Add-ins are found here:
RW Add-in loaded Welder
RobotStudio/Add-ins/Gallery/Common tags:
RobotWare-Addin
If no power source is selected, the Standard I/O Welder will be loaded.
If RW Add-in loaded Welder is selected, only the basic functionality of RobotWare
Arc will be loaded without any power source specific functionality. The welder must
be loaded from a RobotWare Add-in.
RW Add-in loaded Welder
The following Add-ins are available:
•
Fronius TPSi
•
Fronius TPSi Seamtracking
Continues on next page
Application manual - Arc and Arc Sensor
9
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
1 Installation and setup
•
Miller EIP Welder (Miller Ethernet IP welder)
•
Lincoln ArcLink/XT
651-1 Additional Arc Systems
The option Additional Arc Systems includes support for additional Arc Systems.
The following additional arc systems can be selected.
Description
Option
Additional arc systems
651-1 Additional Arc Systems
If Additional Arc Systems is selected, the instructions and data types for additional
systems are installed, where X can be either L for linear motion or C for circular
motion.
•
ArcX1Start
•
ArcX1
•
ArcX1End
•
seamdata1
•
welddata1
•
trackdata1
•
ArcX2Start
•
ArcX2
•
ArcX2End
•
seamdata2
•
welddata2
•
trackdata2
660-1 Optical Tracking Arc
The option Optical Tracking Arc includes advanced laser tracking features together
with the ServoRobot M-Spot-90 and the Scout Sensors.
The following optical tracking options can be selected.
Description
Option
Optical tracking with RobotWare Arc.
660-1 Optical Tracking Arc
10
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
1 Installation and setup
Continued
2 RobotWare - Arc Adaptive process control
2.1 Adaptive Process Control
Description
The options Optical tracking Arc [660-1] and WeldGuide [815-1] are for arc welding
applications where welding data or path must be dynamically changed during the
welding to adapt to changes in geometry or material. In addition to the basic
RobotWare Arc package, the options also include functions for Adaptive Process
Control and Statistical Process Control .
Adaptive Process Control provides the following functionality:
•
Seam tracking: This is used when sensor signals are used, while welding a
seam, to correct the path of the robot, thus tracking the real seam. This is
useful, for example, if parts are not placed in exactly the same position each
time or if the seam geometry can vary. See Seam tracking on page 12 .
•
Sensor controlled tuning: This is used when sensor signals are used to
update the process data used while welding. This is useful, for example, if
the seam features vary while the robot is welding. See Sensor controlled
tuning on page 18 .
•
Program controlled tuning: This is used when welding data is changed
automatically and is related to the path or position. See Program controlled
tuning on page 19 .
Application manual - Arc and Arc Sensor
11
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2 RobotWare - Arc Adaptive process control
2.1 Adaptive Process Control
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| 11
|
•
Miller EIP Welder (Miller Ethernet IP welder)
•
Lincoln ArcLink/XT
651-1 Additional Arc Systems
The option Additional Arc Systems includes support for additional Arc Systems.
The following additional arc systems can be selected.
Description
Option
Additional arc systems
651-1 Additional Arc Systems
If Additional Arc Systems is selected, the instructions and data types for additional
systems are installed, where X can be either L for linear motion or C for circular
motion.
•
ArcX1Start
•
ArcX1
•
ArcX1End
•
seamdata1
•
welddata1
•
trackdata1
•
ArcX2Start
•
ArcX2
•
ArcX2End
•
seamdata2
•
welddata2
•
trackdata2
660-1 Optical Tracking Arc
The option Optical Tracking Arc includes advanced laser tracking features together
with the ServoRobot M-Spot-90 and the Scout Sensors.
The following optical tracking options can be selected.
Description
Option
Optical tracking with RobotWare Arc.
660-1 Optical Tracking Arc
10
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
1 Installation and setup
Continued
2 RobotWare - Arc Adaptive process control
2.1 Adaptive Process Control
Description
The options Optical tracking Arc [660-1] and WeldGuide [815-1] are for arc welding
applications where welding data or path must be dynamically changed during the
welding to adapt to changes in geometry or material. In addition to the basic
RobotWare Arc package, the options also include functions for Adaptive Process
Control and Statistical Process Control .
Adaptive Process Control provides the following functionality:
•
Seam tracking: This is used when sensor signals are used, while welding a
seam, to correct the path of the robot, thus tracking the real seam. This is
useful, for example, if parts are not placed in exactly the same position each
time or if the seam geometry can vary. See Seam tracking on page 12 .
•
Sensor controlled tuning: This is used when sensor signals are used to
update the process data used while welding. This is useful, for example, if
the seam features vary while the robot is welding. See Sensor controlled
tuning on page 18 .
•
Program controlled tuning: This is used when welding data is changed
automatically and is related to the path or position. See Program controlled
tuning on page 19 .
Application manual - Arc and Arc Sensor
11
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.1 Adaptive Process Control
2.2 Seam tracking
2.2.1 Seam tracking systems
Description
RobotWare Arc sensor is prepared to be used in combination with two specific
seam tracking sensor systems, which are:
•
WeldGuide Tracker systems
•
Laser Tracker systems
WeldGuide Tracker systems
These systems are based on measuring the current and voltage of the arc, while
performing weaving around the expected path. Variations in current and voltage
are measured and used to calculate current offset from the wanted path. Then path
correction values are sent from the sensor system to the robot controller, where
the corrections will be added to the ordered position values.
WeldGuide Tracker systems are connected to the controller via a serial link.
Laser Tracker systems
These systems are based on using a separate sensor device mounted on the robot
arm. The sensor is based on a laser emitter sending a light ray on the part. The
reflected ray is received by a photo sensitive array and by triangulation the distance
from the sensor to the reflecting surface can be calculated.
Laser Tracker systems are connected to the controller via a serial link or Ethernet..
The hardware is acquired from optical tracking sensor suppliers, for example
ServoRobot, Scansonic, Meta/Scout, etc.
12
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
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2 RobotWare - Arc Adaptive process control
2.2.1 Seam tracking systems
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2 RobotWare - Arc Adaptive process control
2.1 Adaptive Process Control
Description
The options Optical tracking Arc [660-1] and WeldGuide [815-1] are for arc welding
applications where welding data or path must be dynamically changed during the
welding to adapt to changes in geometry or material. In addition to the basic
RobotWare Arc package, the options also include functions for Adaptive Process
Control and Statistical Process Control .
Adaptive Process Control provides the following functionality:
•
Seam tracking: This is used when sensor signals are used, while welding a
seam, to correct the path of the robot, thus tracking the real seam. This is
useful, for example, if parts are not placed in exactly the same position each
time or if the seam geometry can vary. See Seam tracking on page 12 .
•
Sensor controlled tuning: This is used when sensor signals are used to
update the process data used while welding. This is useful, for example, if
the seam features vary while the robot is welding. See Sensor controlled
tuning on page 18 .
•
Program controlled tuning: This is used when welding data is changed
automatically and is related to the path or position. See Program controlled
tuning on page 19 .
Application manual - Arc and Arc Sensor
11
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.1 Adaptive Process Control
2.2 Seam tracking
2.2.1 Seam tracking systems
Description
RobotWare Arc sensor is prepared to be used in combination with two specific
seam tracking sensor systems, which are:
•
WeldGuide Tracker systems
•
Laser Tracker systems
WeldGuide Tracker systems
These systems are based on measuring the current and voltage of the arc, while
performing weaving around the expected path. Variations in current and voltage
are measured and used to calculate current offset from the wanted path. Then path
correction values are sent from the sensor system to the robot controller, where
the corrections will be added to the ordered position values.
WeldGuide Tracker systems are connected to the controller via a serial link.
Laser Tracker systems
These systems are based on using a separate sensor device mounted on the robot
arm. The sensor is based on a laser emitter sending a light ray on the part. The
reflected ray is received by a photo sensitive array and by triangulation the distance
from the sensor to the reflecting surface can be calculated.
Laser Tracker systems are connected to the controller via a serial link or Ethernet..
The hardware is acquired from optical tracking sensor suppliers, for example
ServoRobot, Scansonic, Meta/Scout, etc.
12
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.2.1 Seam tracking systems
2.2.2 Seam tracking in different instructions
Seam tracking in arc welding instructions
The ArcX instructions can be used for seam tracking in the following ways.
If the system is configured for the use of a WeldGuide Tracker or Laser Tracker,
then the optional argument \Track shall be used to control the tracking function.
With this argument it is possible to specify the track data to be used for the specific
ArcX instruction.
The communication between WeldGuide Tracker system or Laser Tracker system
and the controller is via a serial link or via Ethernet (TCP/IP) using a specific link
protocol (RTP1) and a specific application protocol (LTAPP / LTPROTOBUF). The
option Optical Tracking Arc or WeldGuide is needed.
If the system is not configured for a WeldGuide Tracker or Laser Tracker seam
tracking, that is, none of these parameters are set, then the ArcX instructions will
work for path corrections using CorrXXX instructions. Then the optional argument
\Corr must be used in these instructions instead of \Track . The option Path
Offset is needed.
Seam tracking in other movement instructions
For ordinary movement instructions like MoveL or MoveC also path corrections can
be done. Then the optional argument \Corr must be used in these movement
instructions. The path corrections will then be programmed using CorrXXX
instructions, see below. These instructions are only available if the option Path
Offset or the option RobotWare-Arc sensor are installed.
If the correction values are fetched from an external sensor, then the communication
between sensor and robot controller can be via a serial link. Also in this case
Sensor Interface or RobotWare-Arc sensor options should be used, which will
include instructions for the serial communication using a specific link protocol
(RTP1) and a specific application protocol (LTAPP / LTPROTOBUF) (see short
description below and Application manual - Controller software IRC5 , section
Sensor Interface ).
Path correction instructions
These instructions, included in the option Path offset , describe the path correction.
The following instructions and data types are available:
•
CorrClear
•
CorrCon
•
CorrDiscon
•
CorrRead
•
CorrWrite
•
Data type: corrdescr
These instructions and the data type will make it possible to add certain offsets to
a programmed path, while the robot is moving. The offsets to add can be values
given from a sensor connected to the system via e.g. serial link or via analog input.
Continues on next page
Application manual - Arc and Arc Sensor
13
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.2.2 Seam tracking in different instructions
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|
2.2 Seam tracking
2.2.1 Seam tracking systems
Description
RobotWare Arc sensor is prepared to be used in combination with two specific
seam tracking sensor systems, which are:
•
WeldGuide Tracker systems
•
Laser Tracker systems
WeldGuide Tracker systems
These systems are based on measuring the current and voltage of the arc, while
performing weaving around the expected path. Variations in current and voltage
are measured and used to calculate current offset from the wanted path. Then path
correction values are sent from the sensor system to the robot controller, where
the corrections will be added to the ordered position values.
WeldGuide Tracker systems are connected to the controller via a serial link.
Laser Tracker systems
These systems are based on using a separate sensor device mounted on the robot
arm. The sensor is based on a laser emitter sending a light ray on the part. The
reflected ray is received by a photo sensitive array and by triangulation the distance
from the sensor to the reflecting surface can be calculated.
Laser Tracker systems are connected to the controller via a serial link or Ethernet..
The hardware is acquired from optical tracking sensor suppliers, for example
ServoRobot, Scansonic, Meta/Scout, etc.
12
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.2.1 Seam tracking systems
2.2.2 Seam tracking in different instructions
Seam tracking in arc welding instructions
The ArcX instructions can be used for seam tracking in the following ways.
If the system is configured for the use of a WeldGuide Tracker or Laser Tracker,
then the optional argument \Track shall be used to control the tracking function.
With this argument it is possible to specify the track data to be used for the specific
ArcX instruction.
The communication between WeldGuide Tracker system or Laser Tracker system
and the controller is via a serial link or via Ethernet (TCP/IP) using a specific link
protocol (RTP1) and a specific application protocol (LTAPP / LTPROTOBUF). The
option Optical Tracking Arc or WeldGuide is needed.
If the system is not configured for a WeldGuide Tracker or Laser Tracker seam
tracking, that is, none of these parameters are set, then the ArcX instructions will
work for path corrections using CorrXXX instructions. Then the optional argument
\Corr must be used in these instructions instead of \Track . The option Path
Offset is needed.
Seam tracking in other movement instructions
For ordinary movement instructions like MoveL or MoveC also path corrections can
be done. Then the optional argument \Corr must be used in these movement
instructions. The path corrections will then be programmed using CorrXXX
instructions, see below. These instructions are only available if the option Path
Offset or the option RobotWare-Arc sensor are installed.
If the correction values are fetched from an external sensor, then the communication
between sensor and robot controller can be via a serial link. Also in this case
Sensor Interface or RobotWare-Arc sensor options should be used, which will
include instructions for the serial communication using a specific link protocol
(RTP1) and a specific application protocol (LTAPP / LTPROTOBUF) (see short
description below and Application manual - Controller software IRC5 , section
Sensor Interface ).
Path correction instructions
These instructions, included in the option Path offset , describe the path correction.
The following instructions and data types are available:
•
CorrClear
•
CorrCon
•
CorrDiscon
•
CorrRead
•
CorrWrite
•
Data type: corrdescr
These instructions and the data type will make it possible to add certain offsets to
a programmed path, while the robot is moving. The offsets to add can be values
given from a sensor connected to the system via e.g. serial link or via analog input.
Continues on next page
Application manual - Arc and Arc Sensor
13
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© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.2.2 Seam tracking in different instructions
Sensor interface
This is the same as the separate option Sensor Interface . The option, included in
Optical Tracking or WeldGuide , will make serial communication possible with an
external sensor or other unit. The communication will use the link protocol RTP1.
With this function it is possible to read data from or write data to the sensor using
the instructions listed below. Thus it will be possible to use sensor data for path
corrections or for process tuning. The following instructions will be included for
the data communication:
•
IVarValue
•
ReadBlock
•
ReadVar
•
WriteBlock
•
WriteVar
Note
Path corrections for ArcX instructions can be done in two ways as indicated
above.
•
In system which are not configured for WeldGuide or Laser Tracker , the
instructions Corrxxx (see above) must be used to write the correction
values to a correction generator
•
In system configured for serial WeldGuide or Laser Tracker , path corrections
will be automatically active if the \Track argument is used, where the track
data to be used is included. This requires that the application protocol LTAPP
or LTPROTOBUF is used for the communication with the sensor.
14
Application manual - Arc and Arc Sensor
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2 RobotWare - Arc Adaptive process control
2.2.2 Seam tracking in different instructions
Continued
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2.2.2 Seam tracking in different instructions
Seam tracking in arc welding instructions
The ArcX instructions can be used for seam tracking in the following ways.
If the system is configured for the use of a WeldGuide Tracker or Laser Tracker,
then the optional argument \Track shall be used to control the tracking function.
With this argument it is possible to specify the track data to be used for the specific
ArcX instruction.
The communication between WeldGuide Tracker system or Laser Tracker system
and the controller is via a serial link or via Ethernet (TCP/IP) using a specific link
protocol (RTP1) and a specific application protocol (LTAPP / LTPROTOBUF). The
option Optical Tracking Arc or WeldGuide is needed.
If the system is not configured for a WeldGuide Tracker or Laser Tracker seam
tracking, that is, none of these parameters are set, then the ArcX instructions will
work for path corrections using CorrXXX instructions. Then the optional argument
\Corr must be used in these instructions instead of \Track . The option Path
Offset is needed.
Seam tracking in other movement instructions
For ordinary movement instructions like MoveL or MoveC also path corrections can
be done. Then the optional argument \Corr must be used in these movement
instructions. The path corrections will then be programmed using CorrXXX
instructions, see below. These instructions are only available if the option Path
Offset or the option RobotWare-Arc sensor are installed.
If the correction values are fetched from an external sensor, then the communication
between sensor and robot controller can be via a serial link. Also in this case
Sensor Interface or RobotWare-Arc sensor options should be used, which will
include instructions for the serial communication using a specific link protocol
(RTP1) and a specific application protocol (LTAPP / LTPROTOBUF) (see short
description below and Application manual - Controller software IRC5 , section
Sensor Interface ).
Path correction instructions
These instructions, included in the option Path offset , describe the path correction.
The following instructions and data types are available:
•
CorrClear
•
CorrCon
•
CorrDiscon
•
CorrRead
•
CorrWrite
•
Data type: corrdescr
These instructions and the data type will make it possible to add certain offsets to
a programmed path, while the robot is moving. The offsets to add can be values
given from a sensor connected to the system via e.g. serial link or via analog input.
Continues on next page
Application manual - Arc and Arc Sensor
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2 RobotWare - Arc Adaptive process control
2.2.2 Seam tracking in different instructions
Sensor interface
This is the same as the separate option Sensor Interface . The option, included in
Optical Tracking or WeldGuide , will make serial communication possible with an
external sensor or other unit. The communication will use the link protocol RTP1.
With this function it is possible to read data from or write data to the sensor using
the instructions listed below. Thus it will be possible to use sensor data for path
corrections or for process tuning. The following instructions will be included for
the data communication:
•
IVarValue
•
ReadBlock
•
ReadVar
•
WriteBlock
•
WriteVar
Note
Path corrections for ArcX instructions can be done in two ways as indicated
above.
•
In system which are not configured for WeldGuide or Laser Tracker , the
instructions Corrxxx (see above) must be used to write the correction
values to a correction generator
•
In system configured for serial WeldGuide or Laser Tracker , path corrections
will be automatically active if the \Track argument is used, where the track
data to be used is included. This requires that the application protocol LTAPP
or LTPROTOBUF is used for the communication with the sensor.
14
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2 RobotWare - Arc Adaptive process control
2.2.2 Seam tracking in different instructions
Continued
2.2.3 Optical tracking
Prerequisites
If the system is configured for the use of an optical tracker, then the optional
argument \Track shall be used to control the tracking function. With this argument
it is possible to specify the track data to be used for the specific ArcX instruction.
If the \Track argument is not included, no seam tracking will be active.
As an optical tracker is mounted in front of the weld gun and measures the actual
seam position in advance, the first part of the seam has no tracking data available.
Therefore the distance between the first sensor measurement position and the
start of the seam will not be tracked. To avoid this problem you can use the optional
argument \PreProcessTracking , which activates Pre Process Tracking
For more information see Operating manual - Tracking and searching with optical
sensors .
MoveL p10,v1000,fine,tWeldGun;
ArcLStart p20,v1000,sm1,wdHD\Weave:=wv4,fine,tWeldGun\Track:=tr1;
ArcLEnd p30,v1000,sm1,wdHD\Weave:=wv4,fine,tWeldGun\Track:=tr1;
The laser sensor needs to be calibrated to have optimal performance. That is done
via the calibration programs delivered with the Sensor option. The result from that
calibration ends up in a RAPID variable of type pose . The name of this variable
should be specified in the configuration parameters for the optical tracker.
Application manual - Arc and Arc Sensor
15
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2 RobotWare - Arc Adaptive process control
2.2.3 Optical tracking
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Sensor interface
This is the same as the separate option Sensor Interface . The option, included in
Optical Tracking or WeldGuide , will make serial communication possible with an
external sensor or other unit. The communication will use the link protocol RTP1.
With this function it is possible to read data from or write data to the sensor using
the instructions listed below. Thus it will be possible to use sensor data for path
corrections or for process tuning. The following instructions will be included for
the data communication:
•
IVarValue
•
ReadBlock
•
ReadVar
•
WriteBlock
•
WriteVar
Note
Path corrections for ArcX instructions can be done in two ways as indicated
above.
•
In system which are not configured for WeldGuide or Laser Tracker , the
instructions Corrxxx (see above) must be used to write the correction
values to a correction generator
•
In system configured for serial WeldGuide or Laser Tracker , path corrections
will be automatically active if the \Track argument is used, where the track
data to be used is included. This requires that the application protocol LTAPP
or LTPROTOBUF is used for the communication with the sensor.
14
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2 RobotWare - Arc Adaptive process control
2.2.2 Seam tracking in different instructions
Continued
2.2.3 Optical tracking
Prerequisites
If the system is configured for the use of an optical tracker, then the optional
argument \Track shall be used to control the tracking function. With this argument
it is possible to specify the track data to be used for the specific ArcX instruction.
If the \Track argument is not included, no seam tracking will be active.
As an optical tracker is mounted in front of the weld gun and measures the actual
seam position in advance, the first part of the seam has no tracking data available.
Therefore the distance between the first sensor measurement position and the
start of the seam will not be tracked. To avoid this problem you can use the optional
argument \PreProcessTracking , which activates Pre Process Tracking
For more information see Operating manual - Tracking and searching with optical
sensors .
MoveL p10,v1000,fine,tWeldGun;
ArcLStart p20,v1000,sm1,wdHD\Weave:=wv4,fine,tWeldGun\Track:=tr1;
ArcLEnd p30,v1000,sm1,wdHD\Weave:=wv4,fine,tWeldGun\Track:=tr1;
The laser sensor needs to be calibrated to have optimal performance. That is done
via the calibration programs delivered with the Sensor option. The result from that
calibration ends up in a RAPID variable of type pose . The name of this variable
should be specified in the configuration parameters for the optical tracker.
Application manual - Arc and Arc Sensor
15
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© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.2.3 Optical tracking
2.2.4 WeldGuide
Tracking methods
A WeldGuide tracking system uses the arc as a sensor to adapt the robot path to
the actual location of the part. Measuring the arc voltage and welding current,
synchronized with the robot weave pattern, the stick-out length is calculated on
both sides and in the middle of the weld. The stick-out length in the middle and
the difference between the sides are converted in to robot vertical and horizontal
corrections.
Adaptive welding. A further enhancement is to use the same data to adapt the
robot weave width and travel speed in order to fill a groove that can vary in size.
More information about WeldGuide tracking can be found in Operating
manual - Seam tracking with Weldguide IV and MultiPass .
Path correction instructions
These instructions, included in the option Path offset , describe the path correction.
The following instructions and data types are available:
•
CorrClear
•
CorrCon
•
CorrDiscon
•
CorrRead
•
CorrWrite
•
Data type: corrdescr
These instructions and the data type will make it possible to add certain offsets to
a programmed path, while the robot is moving. The offsets to add can be values
given from a sensor connected to the system via e.g. serial link or via analog input.
Sensor interface
This is the same as the separate option Sensor Interface . The option, included in
RobotWare-Arc sensor , will make serial communication possible with an external
sensor or other unit. The communication will use the link protocol RTP1. With this
function it is possible to read data from or write data to the sensor using the
instructions listed below. Thus it will be possible to use sensor data for path
corrections or for process tuning.
The following instructions will be included for the data communication:
•
IVarValue
•
ReadBlock
•
ReadVar
•
WriteBlock
•
WriteVar
Continues on next page
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2 RobotWare - Arc Adaptive process control
2.2.4 WeldGuide
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2.2.3 Optical tracking
Prerequisites
If the system is configured for the use of an optical tracker, then the optional
argument \Track shall be used to control the tracking function. With this argument
it is possible to specify the track data to be used for the specific ArcX instruction.
If the \Track argument is not included, no seam tracking will be active.
As an optical tracker is mounted in front of the weld gun and measures the actual
seam position in advance, the first part of the seam has no tracking data available.
Therefore the distance between the first sensor measurement position and the
start of the seam will not be tracked. To avoid this problem you can use the optional
argument \PreProcessTracking , which activates Pre Process Tracking
For more information see Operating manual - Tracking and searching with optical
sensors .
MoveL p10,v1000,fine,tWeldGun;
ArcLStart p20,v1000,sm1,wdHD\Weave:=wv4,fine,tWeldGun\Track:=tr1;
ArcLEnd p30,v1000,sm1,wdHD\Weave:=wv4,fine,tWeldGun\Track:=tr1;
The laser sensor needs to be calibrated to have optimal performance. That is done
via the calibration programs delivered with the Sensor option. The result from that
calibration ends up in a RAPID variable of type pose . The name of this variable
should be specified in the configuration parameters for the optical tracker.
Application manual - Arc and Arc Sensor
15
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.2.3 Optical tracking
2.2.4 WeldGuide
Tracking methods
A WeldGuide tracking system uses the arc as a sensor to adapt the robot path to
the actual location of the part. Measuring the arc voltage and welding current,
synchronized with the robot weave pattern, the stick-out length is calculated on
both sides and in the middle of the weld. The stick-out length in the middle and
the difference between the sides are converted in to robot vertical and horizontal
corrections.
Adaptive welding. A further enhancement is to use the same data to adapt the
robot weave width and travel speed in order to fill a groove that can vary in size.
More information about WeldGuide tracking can be found in Operating
manual - Seam tracking with Weldguide IV and MultiPass .
Path correction instructions
These instructions, included in the option Path offset , describe the path correction.
The following instructions and data types are available:
•
CorrClear
•
CorrCon
•
CorrDiscon
•
CorrRead
•
CorrWrite
•
Data type: corrdescr
These instructions and the data type will make it possible to add certain offsets to
a programmed path, while the robot is moving. The offsets to add can be values
given from a sensor connected to the system via e.g. serial link or via analog input.
Sensor interface
This is the same as the separate option Sensor Interface . The option, included in
RobotWare-Arc sensor , will make serial communication possible with an external
sensor or other unit. The communication will use the link protocol RTP1. With this
function it is possible to read data from or write data to the sensor using the
instructions listed below. Thus it will be possible to use sensor data for path
corrections or for process tuning.
The following instructions will be included for the data communication:
•
IVarValue
•
ReadBlock
•
ReadVar
•
WriteBlock
•
WriteVar
Continues on next page
16
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2 RobotWare - Arc Adaptive process control
2.2.4 WeldGuide
Note
Path corrections for ArcL / ArcC instructions can be done in two ways as indicated
above.
•
In system which are not configured for WeldGuide or Laser Tracker, the
instructions Corrxxx (see above) must be used to write the correction
values to a correction generator.
•
In system configured for WeldGuide or Laser Tracker, path corrections will
be automatically active if the \Track argument is used, where the track
data to be used is included. This requires that the application protocol LTAPP
or LTPROTOBUF is used for the communication with the sensor.
Related information
Described in
Information
System parameters on page 201
Installation parameters for welding equipment
and functions
trackdata - Seam tracking data on page 182
trackdata - seam tracking data
660-1 Optical Tracking Arc on page 10
Installation and setup
Application manual - Controller software IRC5
Sensor Interface
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Arc welding instructions
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Application manual - Arc and Arc Sensor
17
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2 RobotWare - Arc Adaptive process control
2.2.4 WeldGuide
Continued
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2.2.4 WeldGuide
Tracking methods
A WeldGuide tracking system uses the arc as a sensor to adapt the robot path to
the actual location of the part. Measuring the arc voltage and welding current,
synchronized with the robot weave pattern, the stick-out length is calculated on
both sides and in the middle of the weld. The stick-out length in the middle and
the difference between the sides are converted in to robot vertical and horizontal
corrections.
Adaptive welding. A further enhancement is to use the same data to adapt the
robot weave width and travel speed in order to fill a groove that can vary in size.
More information about WeldGuide tracking can be found in Operating
manual - Seam tracking with Weldguide IV and MultiPass .
Path correction instructions
These instructions, included in the option Path offset , describe the path correction.
The following instructions and data types are available:
•
CorrClear
•
CorrCon
•
CorrDiscon
•
CorrRead
•
CorrWrite
•
Data type: corrdescr
These instructions and the data type will make it possible to add certain offsets to
a programmed path, while the robot is moving. The offsets to add can be values
given from a sensor connected to the system via e.g. serial link or via analog input.
Sensor interface
This is the same as the separate option Sensor Interface . The option, included in
RobotWare-Arc sensor , will make serial communication possible with an external
sensor or other unit. The communication will use the link protocol RTP1. With this
function it is possible to read data from or write data to the sensor using the
instructions listed below. Thus it will be possible to use sensor data for path
corrections or for process tuning.
The following instructions will be included for the data communication:
•
IVarValue
•
ReadBlock
•
ReadVar
•
WriteBlock
•
WriteVar
Continues on next page
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2 RobotWare - Arc Adaptive process control
2.2.4 WeldGuide
Note
Path corrections for ArcL / ArcC instructions can be done in two ways as indicated
above.
•
In system which are not configured for WeldGuide or Laser Tracker, the
instructions Corrxxx (see above) must be used to write the correction
values to a correction generator.
•
In system configured for WeldGuide or Laser Tracker, path corrections will
be automatically active if the \Track argument is used, where the track
data to be used is included. This requires that the application protocol LTAPP
or LTPROTOBUF is used for the communication with the sensor.
Related information
Described in
Information
System parameters on page 201
Installation parameters for welding equipment
and functions
trackdata - Seam tracking data on page 182
trackdata - seam tracking data
660-1 Optical Tracking Arc on page 10
Installation and setup
Application manual - Controller software IRC5
Sensor Interface
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Arc welding instructions
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Application manual - Arc and Arc Sensor
17
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2 RobotWare - Arc Adaptive process control
2.2.4 WeldGuide
Continued
2.3 Sensor controlled tuning
Description
Sensor controlled tuning provides a powerful tool for changing/tuning a process
during the execution of a weld due to the input signals from a sensor.
Example of application are change process data like voltage, wire feed, speed
based on current sensor values for seam volume or gap detected by a sensor.
The function is generally used in connection with trap routines and interrupts where
the instruction ArcRefresh can be used to update the weld data. The
communication with the external sensor, which provides the feedback data, can
for instance be done using the option Sensor Interface , which is included in
RobotWare-Arc sensor .
18
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2 RobotWare - Arc Adaptive process control
2.3 Sensor controlled tuning
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Note
Path corrections for ArcL / ArcC instructions can be done in two ways as indicated
above.
•
In system which are not configured for WeldGuide or Laser Tracker, the
instructions Corrxxx (see above) must be used to write the correction
values to a correction generator.
•
In system configured for WeldGuide or Laser Tracker, path corrections will
be automatically active if the \Track argument is used, where the track
data to be used is included. This requires that the application protocol LTAPP
or LTPROTOBUF is used for the communication with the sensor.
Related information
Described in
Information
System parameters on page 201
Installation parameters for welding equipment
and functions
trackdata - Seam tracking data on page 182
trackdata - seam tracking data
660-1 Optical Tracking Arc on page 10
Installation and setup
Application manual - Controller software IRC5
Sensor Interface
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Arc welding instructions
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Application manual - Arc and Arc Sensor
17
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2 RobotWare - Arc Adaptive process control
2.2.4 WeldGuide
Continued
2.3 Sensor controlled tuning
Description
Sensor controlled tuning provides a powerful tool for changing/tuning a process
during the execution of a weld due to the input signals from a sensor.
Example of application are change process data like voltage, wire feed, speed
based on current sensor values for seam volume or gap detected by a sensor.
The function is generally used in connection with trap routines and interrupts where
the instruction ArcRefresh can be used to update the weld data. The
communication with the external sensor, which provides the feedback data, can
for instance be done using the option Sensor Interface , which is included in
RobotWare-Arc sensor .
18
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© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.3 Sensor controlled tuning
2.4 Program controlled tuning
Description
Program controlled tuning means that the weld data can be changed during welding
related to specific positions on the path or other known geometry changes.
Example of application are:
•
Change process data with reference to a time or distance before or after a
defined position
•
Change the wire feed speed with reference to the volume of the seam
•
Set up a heat pulse variation along a seam
•
Set up high penetration on one side of a seam and low penetration on the
other side
•
Initiate a ramp-down towards the end of a weld
The function is generally used in connection with trap routines and interrupts where
the instruction ArcRefresh can be used to update the welddata .
Application manual - Arc and Arc Sensor
19
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2 RobotWare - Arc Adaptive process control
2.4 Program controlled tuning
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2.3 Sensor controlled tuning
Description
Sensor controlled tuning provides a powerful tool for changing/tuning a process
during the execution of a weld due to the input signals from a sensor.
Example of application are change process data like voltage, wire feed, speed
based on current sensor values for seam volume or gap detected by a sensor.
The function is generally used in connection with trap routines and interrupts where
the instruction ArcRefresh can be used to update the weld data. The
communication with the external sensor, which provides the feedback data, can
for instance be done using the option Sensor Interface , which is included in
RobotWare-Arc sensor .
18
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3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
2 RobotWare - Arc Adaptive process control
2.3 Sensor controlled tuning
2.4 Program controlled tuning
Description
Program controlled tuning means that the weld data can be changed during welding
related to specific positions on the path or other known geometry changes.
Example of application are:
•
Change process data with reference to a time or distance before or after a
defined position
•
Change the wire feed speed with reference to the volume of the seam
•
Set up a heat pulse variation along a seam
•
Set up high penetration on one side of a seam and low penetration on the
other side
•
Initiate a ramp-down towards the end of a weld
The function is generally used in connection with trap routines and interrupts where
the instruction ArcRefresh can be used to update the welddata .
Application manual - Arc and Arc Sensor
19
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2 RobotWare - Arc Adaptive process control
2.4 Program controlled tuning
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2.4 Program controlled tuning
Description
Program controlled tuning means that the weld data can be changed during welding
related to specific positions on the path or other known geometry changes.
Example of application are:
•
Change process data with reference to a time or distance before or after a
defined position
•
Change the wire feed speed with reference to the volume of the seam
•
Set up a heat pulse variation along a seam
•
Set up high penetration on one side of a seam and low penetration on the
other side
•
Initiate a ramp-down towards the end of a weld
The function is generally used in connection with trap routines and interrupts where
the instruction ArcRefresh can be used to update the welddata .
Application manual - Arc and Arc Sensor
19
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2 RobotWare - Arc Adaptive process control
2.4 Program controlled tuning
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3 Programming
3.1 Programming for arc welding
Prerequisites
Before creating an arc welding program, the arc welding system or systems (see
Defining arc welding systems on page 202 ) and additional axes, if any, must be
configured. This configuration is described in System parameters on page 201 .
Program structure
When there are several seams to be welded on an object, the welding sequence
may be of critical importance for the quality of the object. The risk of deformation
due to thermal stress can be reduced by choosing a suitable seam welding
sequence. It is often best to make a specific routine, object routine, for this with
all the seams specified in the correct order. When the object is placed in a
positioner, its orientation can also be specified in the object routine. The object
routine can call a welding routine for each seam to be welded.
Arc welding instructions
An arc welding instruction contains the same information as a positioning instruction
(e.g. MoveL ), plus all information about the welding process, which is given through
the arguments seamdata , welddata , and weavedata .
Data for the start and end sequences of the weld
Data for the ongoing weld
Data for weaving
L = Linear
C = Circular
Arguments as in the instruction MoveL
ArcL p1, v100, sm1, wd1\Weave:=wv1, fine, torch;
xx1200000641
The speed argument, v100 , in the instruction is only valid during step-wise
execution (forward or backward) and the welding process will in this case
automatically be inhibited.
During normal execution, the process speed in different phases of the process is
included as components of seam and weld data.
For more information on programming arc welding instructions, see Programming
arc welding instructions on page 23 .
Defining arc welding data
Before starting to program arc welding instructions, arc welding data must be
defined. This data is divided into three types:
Describes how the seam is to be started and ended.
seamdata
Continues on next page
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3 Programming
3.1 Programming for arc welding
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3 Programming
3.1 Programming for arc welding
Prerequisites
Before creating an arc welding program, the arc welding system or systems (see
Defining arc welding systems on page 202 ) and additional axes, if any, must be
configured. This configuration is described in System parameters on page 201 .
Program structure
When there are several seams to be welded on an object, the welding sequence
may be of critical importance for the quality of the object. The risk of deformation
due to thermal stress can be reduced by choosing a suitable seam welding
sequence. It is often best to make a specific routine, object routine, for this with
all the seams specified in the correct order. When the object is placed in a
positioner, its orientation can also be specified in the object routine. The object
routine can call a welding routine for each seam to be welded.
Arc welding instructions
An arc welding instruction contains the same information as a positioning instruction
(e.g. MoveL ), plus all information about the welding process, which is given through
the arguments seamdata , welddata , and weavedata .
Data for the start and end sequences of the weld
Data for the ongoing weld
Data for weaving
L = Linear
C = Circular
Arguments as in the instruction MoveL
ArcL p1, v100, sm1, wd1\Weave:=wv1, fine, torch;
xx1200000641
The speed argument, v100 , in the instruction is only valid during step-wise
execution (forward or backward) and the welding process will in this case
automatically be inhibited.
During normal execution, the process speed in different phases of the process is
included as components of seam and weld data.
For more information on programming arc welding instructions, see Programming
arc welding instructions on page 23 .
Defining arc welding data
Before starting to program arc welding instructions, arc welding data must be
defined. This data is divided into three types:
Describes how the seam is to be started and ended.
seamdata
Continues on next page
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3 Programming
3.1 Programming for arc welding
Describes the actual welding phase.
welddata
Describes how any weaving is to be carried out.
weavedata
Number and type of the data components depend on the configuration of the robot.
Normally, data is stored as a part of the program. However, when data is to remain
in memory regardless of which program is loaded, it is stored in a system module.
1
Open the Program Data window from the ABB menu.
2
3
Select the type seamdata , welddata , or weavedata .
4
Tap New .
The data properties are displayed.
![Image]
en1200000642
5
A default name is suggested. If the name needs to be changed, tap the Name
button and specify a new name.
6
If the data needs to be saved in another module, tap the Module drop-down
menu and select the desired module.
7
Tap OK .
Continues on next page
22
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3 Programming
3.1 Programming for arc welding
Continued
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3 Programming
3.1 Programming for arc welding
Prerequisites
Before creating an arc welding program, the arc welding system or systems (see
Defining arc welding systems on page 202 ) and additional axes, if any, must be
configured. This configuration is described in System parameters on page 201 .
Program structure
When there are several seams to be welded on an object, the welding sequence
may be of critical importance for the quality of the object. The risk of deformation
due to thermal stress can be reduced by choosing a suitable seam welding
sequence. It is often best to make a specific routine, object routine, for this with
all the seams specified in the correct order. When the object is placed in a
positioner, its orientation can also be specified in the object routine. The object
routine can call a welding routine for each seam to be welded.
Arc welding instructions
An arc welding instruction contains the same information as a positioning instruction
(e.g. MoveL ), plus all information about the welding process, which is given through
the arguments seamdata , welddata , and weavedata .
Data for the start and end sequences of the weld
Data for the ongoing weld
Data for weaving
L = Linear
C = Circular
Arguments as in the instruction MoveL
ArcL p1, v100, sm1, wd1\Weave:=wv1, fine, torch;
xx1200000641
The speed argument, v100 , in the instruction is only valid during step-wise
execution (forward or backward) and the welding process will in this case
automatically be inhibited.
During normal execution, the process speed in different phases of the process is
included as components of seam and weld data.
For more information on programming arc welding instructions, see Programming
arc welding instructions on page 23 .
Defining arc welding data
Before starting to program arc welding instructions, arc welding data must be
defined. This data is divided into three types:
Describes how the seam is to be started and ended.
seamdata
Continues on next page
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© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Describes the actual welding phase.
welddata
Describes how any weaving is to be carried out.
weavedata
Number and type of the data components depend on the configuration of the robot.
Normally, data is stored as a part of the program. However, when data is to remain
in memory regardless of which program is loaded, it is stored in a system module.
1
Open the Program Data window from the ABB menu.
2
3
Select the type seamdata , welddata , or weavedata .
4
Tap New .
The data properties are displayed.
![Image]
en1200000642
5
A default name is suggested. If the name needs to be changed, tap the Name
button and specify a new name.
6
If the data needs to be saved in another module, tap the Module drop-down
menu and select the desired module.
7
Tap OK .
Continues on next page
22
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3 Programming
3.1 Programming for arc welding
Continued
8
The data will appear in the list with welddata variables. To change the
declaration, tap the data.
![Image]
en1200000643
9
Select a component in the data and specify the desired value. More
information on the individual components can be found in seamdata - Seam
data on page176 , welddata - Weld data on page195 , and weavedata - Weave
data on page 188 .
Note
Some of the components of welddata depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is not present in the
welddata . See System parameters on page 201 .
Tip
In some cases it is easier to create new data by copying and modifying existing
data.
Programming arc welding instructions
1
Jog the robot to the desired position.
2
Open the instruction pick list in the Program Editor , select picklist Motion
& Process .
3
Select the instruction ArcL or ArcC .
The instruction will be added to the program. The arguments are set in relation
to the last arc welding instruction that was programmed.
The instruction is now ready for use.
Continues on next page
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23
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3 Programming
3.1 Programming for arc welding
Continued
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| 23
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Describes the actual welding phase.
welddata
Describes how any weaving is to be carried out.
weavedata
Number and type of the data components depend on the configuration of the robot.
Normally, data is stored as a part of the program. However, when data is to remain
in memory regardless of which program is loaded, it is stored in a system module.
1
Open the Program Data window from the ABB menu.
2
3
Select the type seamdata , welddata , or weavedata .
4
Tap New .
The data properties are displayed.
![Image]
en1200000642
5
A default name is suggested. If the name needs to be changed, tap the Name
button and specify a new name.
6
If the data needs to be saved in another module, tap the Module drop-down
menu and select the desired module.
7
Tap OK .
Continues on next page
22
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© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Continued
8
The data will appear in the list with welddata variables. To change the
declaration, tap the data.
![Image]
en1200000643
9
Select a component in the data and specify the desired value. More
information on the individual components can be found in seamdata - Seam
data on page176 , welddata - Weld data on page195 , and weavedata - Weave
data on page 188 .
Note
Some of the components of welddata depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is not present in the
welddata . See System parameters on page 201 .
Tip
In some cases it is easier to create new data by copying and modifying existing
data.
Programming arc welding instructions
1
Jog the robot to the desired position.
2
Open the instruction pick list in the Program Editor , select picklist Motion
& Process .
3
Select the instruction ArcL or ArcC .
The instruction will be added to the program. The arguments are set in relation
to the last arc welding instruction that was programmed.
The instruction is now ready for use.
Continues on next page
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23
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© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Continued
If an argument needs to be changed, the data can be replaced by another.
1
Select the argument you wish to change ( seam1 in this example).
2
When the argument is selected, tap Change Selected on the Edit menu. The
window used to change instruction arguments appears. The selected
argument is highlighted see figure below. The lower part of the window
displays all available seamdata that can be selected.
![Image]
en1200000644
3
Select the desired seamdata .
4
Change another argument by tapping on the argument in the instruction.
5
Repeat this for all arguments that needs to be changed.
6
Tap OK to confirm the changes.
Example of an arc welding instruction
The seam illustrated in the figure below is to be welded. The seam line is
represented by the thick line in the figure.
Preparations for welding (such as gas preflowing) are carried out between points
p10 and p20 , on the way to the starting-point, p20 . The weld is terminated at point
p80 .
Continues on next page
24
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3 Programming
3.1 Programming for arc welding
Continued
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| 24
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8
The data will appear in the list with welddata variables. To change the
declaration, tap the data.
![Image]
en1200000643
9
Select a component in the data and specify the desired value. More
information on the individual components can be found in seamdata - Seam
data on page176 , welddata - Weld data on page195 , and weavedata - Weave
data on page 188 .
Note
Some of the components of welddata depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is not present in the
welddata . See System parameters on page 201 .
Tip
In some cases it is easier to create new data by copying and modifying existing
data.
Programming arc welding instructions
1
Jog the robot to the desired position.
2
Open the instruction pick list in the Program Editor , select picklist Motion
& Process .
3
Select the instruction ArcL or ArcC .
The instruction will be added to the program. The arguments are set in relation
to the last arc welding instruction that was programmed.
The instruction is now ready for use.
Continues on next page
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3 Programming
3.1 Programming for arc welding
Continued
If an argument needs to be changed, the data can be replaced by another.
1
Select the argument you wish to change ( seam1 in this example).
2
When the argument is selected, tap Change Selected on the Edit menu. The
window used to change instruction arguments appears. The selected
argument is highlighted see figure below. The lower part of the window
displays all available seamdata that can be selected.
![Image]
en1200000644
3
Select the desired seamdata .
4
Change another argument by tapping on the argument in the instruction.
5
Repeat this for all arguments that needs to be changed.
6
Tap OK to confirm the changes.
Example of an arc welding instruction
The seam illustrated in the figure below is to be welded. The seam line is
represented by the thick line in the figure.
Preparations for welding (such as gas preflowing) are carried out between points
p10 and p20 , on the way to the starting-point, p20 . The weld is terminated at point
p80 .
Continues on next page
24
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© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Continued
The welddata , wd1, applies until position p50 is reached, where a transition to
wd2 takes place.
xxxxx x
xxxxx
p10
p20
p30
p40
p50
p60
p70
p80
p90
MoveJ
ArcLStart
ArcL
MoveJ
ArcC
ArcLEnd
wd1
wd2
Delay distance
Movement without welding
Start preparations
Movement with welding
xx1200000645
The programming sequence for this seam could be written as follows:
MoveJ p10,v100,z10,torch;
ArcLStart p20,v100,sm1,wd1,wv1,fine,torch;
ArcC p30, p40, v100, sm1, wd1, wv1, z10, torch;
ArcL p50,v100,sm1,wd1,wv1,z10,torch;
ArcC p60,p70,v100,sm1,wd2,wv1,z10,torch;
ArcLEnd p80,v100,sm1,wd2,wv1,fine,torch;
MoveJ p90,v100,z10,torch;
If the seam is to be coordinated with an additional axis, an argument of the type
work object has to be included in all arc welding instructions except for the start
instruction. For more information, see ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129 , and ArcC, ArcC1, ArcC2 - Arc welding with circular motion on
page 101 .
Application manual - Arc and Arc Sensor
25
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3 Programming
3.1 Programming for arc welding
Continued
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| 25
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If an argument needs to be changed, the data can be replaced by another.
1
Select the argument you wish to change ( seam1 in this example).
2
When the argument is selected, tap Change Selected on the Edit menu. The
window used to change instruction arguments appears. The selected
argument is highlighted see figure below. The lower part of the window
displays all available seamdata that can be selected.
![Image]
en1200000644
3
Select the desired seamdata .
4
Change another argument by tapping on the argument in the instruction.
5
Repeat this for all arguments that needs to be changed.
6
Tap OK to confirm the changes.
Example of an arc welding instruction
The seam illustrated in the figure below is to be welded. The seam line is
represented by the thick line in the figure.
Preparations for welding (such as gas preflowing) are carried out between points
p10 and p20 , on the way to the starting-point, p20 . The weld is terminated at point
p80 .
Continues on next page
24
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Continued
The welddata , wd1, applies until position p50 is reached, where a transition to
wd2 takes place.
xxxxx x
xxxxx
p10
p20
p30
p40
p50
p60
p70
p80
p90
MoveJ
ArcLStart
ArcL
MoveJ
ArcC
ArcLEnd
wd1
wd2
Delay distance
Movement without welding
Start preparations
Movement with welding
xx1200000645
The programming sequence for this seam could be written as follows:
MoveJ p10,v100,z10,torch;
ArcLStart p20,v100,sm1,wd1,wv1,fine,torch;
ArcC p30, p40, v100, sm1, wd1, wv1, z10, torch;
ArcL p50,v100,sm1,wd1,wv1,z10,torch;
ArcC p60,p70,v100,sm1,wd2,wv1,z10,torch;
ArcLEnd p80,v100,sm1,wd2,wv1,fine,torch;
MoveJ p90,v100,z10,torch;
If the seam is to be coordinated with an additional axis, an argument of the type
work object has to be included in all arc welding instructions except for the start
instruction. For more information, see ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129 , and ArcC, ArcC1, ArcC2 - Arc welding with circular motion on
page 101 .
Application manual - Arc and Arc Sensor
25
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Continued
3.2 Functions for arc welding when program execution has been stopped
Manual mode
Arc welding functions (program execution has been stopped) in manual mode:
•
Weld data tuning
•
Weave data tuning
•
Communicate with seam tracker sensor
•
Process blocking
•
Manual wire feed
•
Manual gas on/off
•
Select arc welding system
•
Changing tuning increments
Note
If a window is open in Manual mode and the functionality is disabled in Auto
mode, switching from Manual to Auto mode will close the window.
Auto mode
Arc welding functions (program execution has been stopped) in Auto mode:
•
Manual wire feed
•
Manual gas on/off
•
Select arc welding system
•
Changing tuning increments
Note
If a window is open in Manual mode and the functionality is disabled in Auto
mode, switching from Manual to Auto mode will close the window.
Continues on next page
26
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
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| 26
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The welddata , wd1, applies until position p50 is reached, where a transition to
wd2 takes place.
xxxxx x
xxxxx
p10
p20
p30
p40
p50
p60
p70
p80
p90
MoveJ
ArcLStart
ArcL
MoveJ
ArcC
ArcLEnd
wd1
wd2
Delay distance
Movement without welding
Start preparations
Movement with welding
xx1200000645
The programming sequence for this seam could be written as follows:
MoveJ p10,v100,z10,torch;
ArcLStart p20,v100,sm1,wd1,wv1,fine,torch;
ArcC p30, p40, v100, sm1, wd1, wv1, z10, torch;
ArcL p50,v100,sm1,wd1,wv1,z10,torch;
ArcC p60,p70,v100,sm1,wd2,wv1,z10,torch;
ArcLEnd p80,v100,sm1,wd2,wv1,fine,torch;
MoveJ p90,v100,z10,torch;
If the seam is to be coordinated with an additional axis, an argument of the type
work object has to be included in all arc welding instructions except for the start
instruction. For more information, see ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129 , and ArcC, ArcC1, ArcC2 - Arc welding with circular motion on
page 101 .
Application manual - Arc and Arc Sensor
25
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.1 Programming for arc welding
Continued
3.2 Functions for arc welding when program execution has been stopped
Manual mode
Arc welding functions (program execution has been stopped) in manual mode:
•
Weld data tuning
•
Weave data tuning
•
Communicate with seam tracker sensor
•
Process blocking
•
Manual wire feed
•
Manual gas on/off
•
Select arc welding system
•
Changing tuning increments
Note
If a window is open in Manual mode and the functionality is disabled in Auto
mode, switching from Manual to Auto mode will close the window.
Auto mode
Arc welding functions (program execution has been stopped) in Auto mode:
•
Manual wire feed
•
Manual gas on/off
•
Select arc welding system
•
Changing tuning increments
Note
If a window is open in Manual mode and the functionality is disabled in Auto
mode, switching from Manual to Auto mode will close the window.
Continues on next page
26
Application manual - Arc and Arc Sensor
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© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.2 Functions for arc welding when program execution has been stopped
RobotWare Arc on FlexPendant
To start RobotWare Arc, tap the ABB menu and then tap RobotWare Arc. When
RobotWare Arc desktop is loaded, all arc welding functions can be accessed.
![Image]
en1200000516
Weld data tuning
The welddata components weld_speed , weld_wirefeed , and weld_voltage
can be tuned using the welddata tuning function.
There are two stored values for the tunable data. They are:
1
present value ( weld_speed , weld_wirefeed , and weld_voltage )
2
original value ( org_weld_speed , org_weld_wirefeed , and
org_weld_voltage )
This allows you to see how much the original value was changed and also to revert
to the original value.
During tuning, it is always the present value that is changed. The original value
can also be changed by setting it to the same value as the present value.
These changes can also be made from the Program Data window.
Tuning weld data
1
Tap Tuning .
A window will appear containing functionality for tuning variables of type
welddata .
2
Select welddata to be tuned by tapping the drop-down menu and selecting
the desired welding data.
3
If more than 20 welddata variables are defined in this task the drop-down
menu will be replaced by a text box and a button. Pressing the button opens
up a dialog from where it is possible to select other welddata to tune.
4
Select the appropriate component in the welddata to be tuned by tapping
on it.
Continues on next page
Application manual - Arc and Arc Sensor
27
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
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ABB_Application_Manual_Arc_and_Arc_Sensor
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| 27
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3.2 Functions for arc welding when program execution has been stopped
Manual mode
Arc welding functions (program execution has been stopped) in manual mode:
•
Weld data tuning
•
Weave data tuning
•
Communicate with seam tracker sensor
•
Process blocking
•
Manual wire feed
•
Manual gas on/off
•
Select arc welding system
•
Changing tuning increments
Note
If a window is open in Manual mode and the functionality is disabled in Auto
mode, switching from Manual to Auto mode will close the window.
Auto mode
Arc welding functions (program execution has been stopped) in Auto mode:
•
Manual wire feed
•
Manual gas on/off
•
Select arc welding system
•
Changing tuning increments
Note
If a window is open in Manual mode and the functionality is disabled in Auto
mode, switching from Manual to Auto mode will close the window.
Continues on next page
26
Application manual - Arc and Arc Sensor
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
3 Programming
3.2 Functions for arc welding when program execution has been stopped
RobotWare Arc on FlexPendant
To start RobotWare Arc, tap the ABB menu and then tap RobotWare Arc. When
RobotWare Arc desktop is loaded, all arc welding functions can be accessed.
![Image]
en1200000516
Weld data tuning
The welddata components weld_speed , weld_wirefeed , and weld_voltage
can be tuned using the welddata tuning function.
There are two stored values for the tunable data. They are:
1
present value ( weld_speed , weld_wirefeed , and weld_voltage )
2
original value ( org_weld_speed , org_weld_wirefeed , and
org_weld_voltage )
This allows you to see how much the original value was changed and also to revert
to the original value.
During tuning, it is always the present value that is changed. The original value
can also be changed by setting it to the same value as the present value.
These changes can also be made from the Program Data window.
Tuning weld data
1
Tap Tuning .
A window will appear containing functionality for tuning variables of type
welddata .
2
Select welddata to be tuned by tapping the drop-down menu and selecting
the desired welding data.
3
If more than 20 welddata variables are defined in this task the drop-down
menu will be replaced by a text box and a button. Pressing the button opens
up a dialog from where it is possible to select other welddata to tune.
4
Select the appropriate component in the welddata to be tuned by tapping
on it.
Continues on next page
Application manual - Arc and Arc Sensor
27
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
5
Tap - or + to decrease or increase the value. Each tap will decrease/increase
the value in increments. The tuning increment is preset. For adjustment of
the increment see Data tuning on page 32 .
6
To reset the tuning value, tap Revert . The present value will be reset to the
original value.
To reset the original value to the present value, tap Update Origin .
7
Tap OK .
Tuning weave data
1
Tap Tuning .
2
Tap the Weave tuning tab to access weaving data.
![Image]
en1200000646
The weavedata tuning dialogs have exactly the same functions as the
welddata tuning dialogs.
The tunable components are: weave_width , weave_height , and
weave_bias .
weaving width ( W )
Y W
X W
xx1200000647
Continues on next page
28
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
|
ABB_Application_Manual_Arc_and_Arc_Sensor
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https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
| 28
|
RobotWare Arc on FlexPendant
To start RobotWare Arc, tap the ABB menu and then tap RobotWare Arc. When
RobotWare Arc desktop is loaded, all arc welding functions can be accessed.
![Image]
en1200000516
Weld data tuning
The welddata components weld_speed , weld_wirefeed , and weld_voltage
can be tuned using the welddata tuning function.
There are two stored values for the tunable data. They are:
1
present value ( weld_speed , weld_wirefeed , and weld_voltage )
2
original value ( org_weld_speed , org_weld_wirefeed , and
org_weld_voltage )
This allows you to see how much the original value was changed and also to revert
to the original value.
During tuning, it is always the present value that is changed. The original value
can also be changed by setting it to the same value as the present value.
These changes can also be made from the Program Data window.
Tuning weld data
1
Tap Tuning .
A window will appear containing functionality for tuning variables of type
welddata .
2
Select welddata to be tuned by tapping the drop-down menu and selecting
the desired welding data.
3
If more than 20 welddata variables are defined in this task the drop-down
menu will be replaced by a text box and a button. Pressing the button opens
up a dialog from where it is possible to select other welddata to tune.
4
Select the appropriate component in the welddata to be tuned by tapping
on it.
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3.2 Functions for arc welding when program execution has been stopped
Continued
5
Tap - or + to decrease or increase the value. Each tap will decrease/increase
the value in increments. The tuning increment is preset. For adjustment of
the increment see Data tuning on page 32 .
6
To reset the tuning value, tap Revert . The present value will be reset to the
original value.
To reset the original value to the present value, tap Update Origin .
7
Tap OK .
Tuning weave data
1
Tap Tuning .
2
Tap the Weave tuning tab to access weaving data.
![Image]
en1200000646
The weavedata tuning dialogs have exactly the same functions as the
welddata tuning dialogs.
The tunable components are: weave_width , weave_height , and
weave_bias .
weaving width ( W )
Y W
X W
xx1200000647
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3.2 Functions for arc welding when program execution has been stopped
Continued
weaving height ( H )
Y W
Z W
xx1200000648
weaving bias ( B )
Y W
X W
xx1200000649
Process blocking
Using this display, the operator has the possibility to block welding, weaving,
tracking and/ or all. This may be useful during programming or testing phase.
1
Tap Blocking .
2
Tap the desired process icon to switch between active and blocked state.
Block All blocks welding, weaving, and tracking and forces the robot to use
programmed speed (that is, the speed argument).
3
Tap OK to confirm or Cancel to discard changes.
Blocking can also be activated by setting the digital process blocking inputs.
The parts of the process that have been blocked will be shown on the top border
in all RobotWare Arc windows. The blocking status indication is valid in both Manual
and Auto mode.
![Image]
xx1200000650
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5
Tap - or + to decrease or increase the value. Each tap will decrease/increase
the value in increments. The tuning increment is preset. For adjustment of
the increment see Data tuning on page 32 .
6
To reset the tuning value, tap Revert . The present value will be reset to the
original value.
To reset the original value to the present value, tap Update Origin .
7
Tap OK .
Tuning weave data
1
Tap Tuning .
2
Tap the Weave tuning tab to access weaving data.
![Image]
en1200000646
The weavedata tuning dialogs have exactly the same functions as the
welddata tuning dialogs.
The tunable components are: weave_width , weave_height , and
weave_bias .
weaving width ( W )
Y W
X W
xx1200000647
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
weaving height ( H )
Y W
Z W
xx1200000648
weaving bias ( B )
Y W
X W
xx1200000649
Process blocking
Using this display, the operator has the possibility to block welding, weaving,
tracking and/ or all. This may be useful during programming or testing phase.
1
Tap Blocking .
2
Tap the desired process icon to switch between active and blocked state.
Block All blocks welding, weaving, and tracking and forces the robot to use
programmed speed (that is, the speed argument).
3
Tap OK to confirm or Cancel to discard changes.
Blocking can also be activated by setting the digital process blocking inputs.
The parts of the process that have been blocked will be shown on the top border
in all RobotWare Arc windows. The blocking status indication is valid in both Manual
and Auto mode.
![Image]
xx1200000650
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
Blocking that is activated in the above dialog, is active only in the Manual operating
mode. It is, however, possible to allow blocking in Auto mode if the arc welding
system parameter auto inhib is On .
Note
If more than one system is configured in the robot, blocking from the dialog will
affect all systems. The digital process blocking inputs will only affect the
corresponding system.
Communicate with seam tracker sensor
This display shows the corrections to the seam path, generated by the sensor.
Note
The seam tracker sensor communication functions can only be used if the robot
is configured for use of a seam tracker sensor.
1
Tap Manual functions.
This dialog has two functions:
•
Switch the sensor on/off by tapping the sensor icon.
•
Get the current sensor data by selecting a joint number in the combo
box.
*
Seam tracker sensor
Sensor coordinate system
Y-axis
Z-axis
Z-value
Y-value
Gap
Joint position
xx1200000651
2
Tap Close to close the window.
Manual wirefeed
1
Tap Manual Functions .
2
Tap and hold the forward or backward icons to feed the wire. The wire will
be fed forward or backward at 50 mm/s, as long as the icon is pressed.
3
Tap the stickout icon to feed 15 mm wire (for each tap).
4
Tap Close to close the window.
Continues on next page
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weaving height ( H )
Y W
Z W
xx1200000648
weaving bias ( B )
Y W
X W
xx1200000649
Process blocking
Using this display, the operator has the possibility to block welding, weaving,
tracking and/ or all. This may be useful during programming or testing phase.
1
Tap Blocking .
2
Tap the desired process icon to switch between active and blocked state.
Block All blocks welding, weaving, and tracking and forces the robot to use
programmed speed (that is, the speed argument).
3
Tap OK to confirm or Cancel to discard changes.
Blocking can also be activated by setting the digital process blocking inputs.
The parts of the process that have been blocked will be shown on the top border
in all RobotWare Arc windows. The blocking status indication is valid in both Manual
and Auto mode.
![Image]
xx1200000650
Continues on next page
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
Blocking that is activated in the above dialog, is active only in the Manual operating
mode. It is, however, possible to allow blocking in Auto mode if the arc welding
system parameter auto inhib is On .
Note
If more than one system is configured in the robot, blocking from the dialog will
affect all systems. The digital process blocking inputs will only affect the
corresponding system.
Communicate with seam tracker sensor
This display shows the corrections to the seam path, generated by the sensor.
Note
The seam tracker sensor communication functions can only be used if the robot
is configured for use of a seam tracker sensor.
1
Tap Manual functions.
This dialog has two functions:
•
Switch the sensor on/off by tapping the sensor icon.
•
Get the current sensor data by selecting a joint number in the combo
box.
*
Seam tracker sensor
Sensor coordinate system
Y-axis
Z-axis
Z-value
Y-value
Gap
Joint position
xx1200000651
2
Tap Close to close the window.
Manual wirefeed
1
Tap Manual Functions .
2
Tap and hold the forward or backward icons to feed the wire. The wire will
be fed forward or backward at 50 mm/s, as long as the icon is pressed.
3
Tap the stickout icon to feed 15 mm wire (for each tap).
4
Tap Close to close the window.
Continues on next page
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
Note
If more than one system is configured in the robot, the dialog for selection of arc
welding systems can be used to select the corresponding wire feed equipment.
Manual gas purge
1
Tap Manual Functions .
2
Tap and hold the gas icon to purge gas.
The gas valve will be open as long as the icon is pressed.
3
Tap Close to close the window.
Note
If more than one system is configured in the robot, the dialog for selection of arc
welding systems can be used to select the corresponding gas valve.
Select arc welding system
Up to three arc welding systems can exist at the same time in the robot.
1
Tap Settings .
2
Tap a system in the section System settings to select a system.
3
Tap OK to confirm.
If Cancel is tapped, the original arc welding system is retained as the current
system. When a system has been selected as the current system, all other
manual functions will operate on this system.
The selection of the arc welding system determines which equipment is active
when manual operations, that is, Gas On , Manual Wirefeed are executed.
Changing tuning increments
1
Tap Settings .
2
In the section Tuning increments , tap a line to change the increment values.
3
Change the value using the numerical keys.
4
Tap OK to close the window and activate the chosen values.
Tapping Cancel discards the changes and closes the window.
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Blocking that is activated in the above dialog, is active only in the Manual operating
mode. It is, however, possible to allow blocking in Auto mode if the arc welding
system parameter auto inhib is On .
Note
If more than one system is configured in the robot, blocking from the dialog will
affect all systems. The digital process blocking inputs will only affect the
corresponding system.
Communicate with seam tracker sensor
This display shows the corrections to the seam path, generated by the sensor.
Note
The seam tracker sensor communication functions can only be used if the robot
is configured for use of a seam tracker sensor.
1
Tap Manual functions.
This dialog has two functions:
•
Switch the sensor on/off by tapping the sensor icon.
•
Get the current sensor data by selecting a joint number in the combo
box.
*
Seam tracker sensor
Sensor coordinate system
Y-axis
Z-axis
Z-value
Y-value
Gap
Joint position
xx1200000651
2
Tap Close to close the window.
Manual wirefeed
1
Tap Manual Functions .
2
Tap and hold the forward or backward icons to feed the wire. The wire will
be fed forward or backward at 50 mm/s, as long as the icon is pressed.
3
Tap the stickout icon to feed 15 mm wire (for each tap).
4
Tap Close to close the window.
Continues on next page
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
Note
If more than one system is configured in the robot, the dialog for selection of arc
welding systems can be used to select the corresponding wire feed equipment.
Manual gas purge
1
Tap Manual Functions .
2
Tap and hold the gas icon to purge gas.
The gas valve will be open as long as the icon is pressed.
3
Tap Close to close the window.
Note
If more than one system is configured in the robot, the dialog for selection of arc
welding systems can be used to select the corresponding gas valve.
Select arc welding system
Up to three arc welding systems can exist at the same time in the robot.
1
Tap Settings .
2
Tap a system in the section System settings to select a system.
3
Tap OK to confirm.
If Cancel is tapped, the original arc welding system is retained as the current
system. When a system has been selected as the current system, all other
manual functions will operate on this system.
The selection of the arc welding system determines which equipment is active
when manual operations, that is, Gas On , Manual Wirefeed are executed.
Changing tuning increments
1
Tap Settings .
2
In the section Tuning increments , tap a line to change the increment values.
3
Change the value using the numerical keys.
4
Tap OK to close the window and activate the chosen values.
Tapping Cancel discards the changes and closes the window.
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
3.3 Functions for arc welding during program execution
General
Arc welding functions during program execution:
•
Weld data tuning
•
Weave data tuning
•
Measured value display
Data tuning
During program execution only the present values can be tuned. The original values
can only be tuned when the program is stopped.
Note
This chapter refers only to Weld Tuning. The functionality is exactly the same
for Weave Tuning.
1
Press Start to start the program.
The tuning window is displayed with a list of tunable data if an arc welding
instruction is executing.
![Image]
en1200000652
Continues on next page
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Note
If more than one system is configured in the robot, the dialog for selection of arc
welding systems can be used to select the corresponding wire feed equipment.
Manual gas purge
1
Tap Manual Functions .
2
Tap and hold the gas icon to purge gas.
The gas valve will be open as long as the icon is pressed.
3
Tap Close to close the window.
Note
If more than one system is configured in the robot, the dialog for selection of arc
welding systems can be used to select the corresponding gas valve.
Select arc welding system
Up to three arc welding systems can exist at the same time in the robot.
1
Tap Settings .
2
Tap a system in the section System settings to select a system.
3
Tap OK to confirm.
If Cancel is tapped, the original arc welding system is retained as the current
system. When a system has been selected as the current system, all other
manual functions will operate on this system.
The selection of the arc welding system determines which equipment is active
when manual operations, that is, Gas On , Manual Wirefeed are executed.
Changing tuning increments
1
Tap Settings .
2
In the section Tuning increments , tap a line to change the increment values.
3
Change the value using the numerical keys.
4
Tap OK to close the window and activate the chosen values.
Tapping Cancel discards the changes and closes the window.
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3 Programming
3.2 Functions for arc welding when program execution has been stopped
Continued
3.3 Functions for arc welding during program execution
General
Arc welding functions during program execution:
•
Weld data tuning
•
Weave data tuning
•
Measured value display
Data tuning
During program execution only the present values can be tuned. The original values
can only be tuned when the program is stopped.
Note
This chapter refers only to Weld Tuning. The functionality is exactly the same
for Weave Tuning.
1
Press Start to start the program.
The tuning window is displayed with a list of tunable data if an arc welding
instruction is executing.
![Image]
en1200000652
Continues on next page
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3 Programming
3.3 Functions for arc welding during program execution
If no arc welding instruction is executing, then the tuning window is blocked
and a yellow label is displayed.
![Image]
en1200000653
2
Select the data type to be tuned - Weld Tuning or Weave Tuning - by using
the tabs in the tuning window.
3
Select the appropriate component in the welddata to be tuned, by tapping
on it.
4
Tap - or + to decrease or increase the value.
Each time these buttons are tapped, the value will decrease/increase in
increments. The tuning increment is preset. For adjustment of the increment
see Changing tuning increments on page 31 .
To reset the tuning value, tap Revert . The present value is reset to the original
value.
Application manual - Arc and Arc Sensor
33
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3 Programming
3.3 Functions for arc welding during program execution
Continued
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3.3 Functions for arc welding during program execution
General
Arc welding functions during program execution:
•
Weld data tuning
•
Weave data tuning
•
Measured value display
Data tuning
During program execution only the present values can be tuned. The original values
can only be tuned when the program is stopped.
Note
This chapter refers only to Weld Tuning. The functionality is exactly the same
for Weave Tuning.
1
Press Start to start the program.
The tuning window is displayed with a list of tunable data if an arc welding
instruction is executing.
![Image]
en1200000652
Continues on next page
32
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3 Programming
3.3 Functions for arc welding during program execution
If no arc welding instruction is executing, then the tuning window is blocked
and a yellow label is displayed.
![Image]
en1200000653
2
Select the data type to be tuned - Weld Tuning or Weave Tuning - by using
the tabs in the tuning window.
3
Select the appropriate component in the welddata to be tuned, by tapping
on it.
4
Tap - or + to decrease or increase the value.
Each time these buttons are tapped, the value will decrease/increase in
increments. The tuning increment is preset. For adjustment of the increment
see Changing tuning increments on page 31 .
To reset the tuning value, tap Revert . The present value is reset to the original
value.
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3 Programming
3.3 Functions for arc welding during program execution
Continued
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If no arc welding instruction is executing, then the tuning window is blocked
and a yellow label is displayed.
![Image]
en1200000653
2
Select the data type to be tuned - Weld Tuning or Weave Tuning - by using
the tabs in the tuning window.
3
Select the appropriate component in the welddata to be tuned, by tapping
on it.
4
Tap - or + to decrease or increase the value.
Each time these buttons are tapped, the value will decrease/increase in
increments. The tuning increment is preset. For adjustment of the increment
see Changing tuning increments on page 31 .
To reset the tuning value, tap Revert . The present value is reset to the original
value.
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3 Programming
3.3 Functions for arc welding during program execution
Continued
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4 Programming RobotWare Arc systems with MultiMove
4.1 RobotWare Arc with MultiMove
Introduction
The RobotWare Arc functionality for MultiMove systems is similar to the functionality
in single arc welding systems. Two or more welding robots are programmed in
separate tasks running independent or coordinated.
The user interface provides the possibility to select which welding robot the
functions should operate on.
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4 Programming RobotWare Arc systems with MultiMove
4.1 RobotWare Arc with MultiMove
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4 Programming RobotWare Arc systems with MultiMove
4.1 RobotWare Arc with MultiMove
Introduction
The RobotWare Arc functionality for MultiMove systems is similar to the functionality
in single arc welding systems. Two or more welding robots are programmed in
separate tasks running independent or coordinated.
The user interface provides the possibility to select which welding robot the
functions should operate on.
Application manual - Arc and Arc Sensor
35
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4 Programming RobotWare Arc systems with MultiMove
4.1 RobotWare Arc with MultiMove
4.2 Functions for arc welding during program execution
Functions
Arc welding functions during program execution:
•
Weld data tuning
•
Weave data tuning
•
Measured value display
•
Selecting active welding robot
Data tuning
The data tuning functionality is similar to the functionality described in Functions
for arc welding during program execution on page 32 , except that the tuning
operates on data belonging to the active welding robot task.
Measurement values
The measurement values functionality is similar to the functionality described in
Functions for arc welding during program execution on page 32 , except that the
values displayed belongs to the active welding robot.
Selecting active welding robot
It is possible to change active welding robot during program execution.
1
Tap Change robot .
2
Select active welding robot.
3
Tap OK to confirm or Cancel to discard changes.
The weld and weave data tuning will now operate on data belonging to the active
welding robot.
36
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4 Programming RobotWare Arc systems with MultiMove
4.2 Functions for arc welding during program execution
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4 Programming RobotWare Arc systems with MultiMove
4.1 RobotWare Arc with MultiMove
Introduction
The RobotWare Arc functionality for MultiMove systems is similar to the functionality
in single arc welding systems. Two or more welding robots are programmed in
separate tasks running independent or coordinated.
The user interface provides the possibility to select which welding robot the
functions should operate on.
Application manual - Arc and Arc Sensor
35
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4 Programming RobotWare Arc systems with MultiMove
4.1 RobotWare Arc with MultiMove
4.2 Functions for arc welding during program execution
Functions
Arc welding functions during program execution:
•
Weld data tuning
•
Weave data tuning
•
Measured value display
•
Selecting active welding robot
Data tuning
The data tuning functionality is similar to the functionality described in Functions
for arc welding during program execution on page 32 , except that the tuning
operates on data belonging to the active welding robot task.
Measurement values
The measurement values functionality is similar to the functionality described in
Functions for arc welding during program execution on page 32 , except that the
values displayed belongs to the active welding robot.
Selecting active welding robot
It is possible to change active welding robot during program execution.
1
Tap Change robot .
2
Select active welding robot.
3
Tap OK to confirm or Cancel to discard changes.
The weld and weave data tuning will now operate on data belonging to the active
welding robot.
36
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4 Programming RobotWare Arc systems with MultiMove
4.2 Functions for arc welding during program execution
4.3 Configuration
Introduction
In a MultiMove system, the configuration parameter MotionTimeout is of great
importance, especially when running in synchronized mode. The parameter should
have a non-zero value to be able to shut down process equipment when one of
the robots does not start the intended motion after a certain time frame.
Example
The robots ROB1 and ROB2 are both welding in synchronized mode. The
MotionTimeout parameter is set to 1s. Since they are running in synchronized
mode, both of the robots TCP should arrive at the starting position of the weld at
the same time. Both robots strike the arc at the same time. ROB1 gets the Arc OK
signal, the robot is ready to start the motion, the motion timer starts to tick. ROB2
has a problem to ignite properly. That means that during this period ROB1 is
standing still with the arc on. The motion timeout will cause an error after 1 second
in ROB1. Then the error ERR_PATH_STOP will be distributed to the other motion
tasks to react on. This parameter is used to avoid that one of the robots is standing
still with the arc ignited and burning through the material.
Note
When running in synchronized mode, the motion timeout must not be lower than
the ignition timeout value. There is otherwise a risk that the motion timer will
expire before the ignition timer. Since the motion timeout error is non recoverable,
it will hide the real error, arc ignition timeout. The recommendation is to set the
ignition timeout value some milliseconds shorter than the movement timeout
value, 0.05 seconds is sufficient.
Error handling
Error handling in a MultiMove setup (running synchronized) requires that the error
handlers are the same in all robot tasks. That is due to the fact that if there is an
error in one robot, the other robots will also end up in their local error handler.
Example 1
Automatic retries directly after an error.
If no_of_retries is set to a value other than 0, automatic retries will be performed
by RobotWare Arc until no_of_retries has expired. Then the user error handler will
be executed.
If the error handler has the following contents, it will be executed until the error is
fixed or the SYS domain parameter -NoOfRetry has expired.
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
StorePath;
Continues on next page
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4 Programming RobotWare Arc systems with MultiMove
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4.2 Functions for arc welding during program execution
Functions
Arc welding functions during program execution:
•
Weld data tuning
•
Weave data tuning
•
Measured value display
•
Selecting active welding robot
Data tuning
The data tuning functionality is similar to the functionality described in Functions
for arc welding during program execution on page 32 , except that the tuning
operates on data belonging to the active welding robot task.
Measurement values
The measurement values functionality is similar to the functionality described in
Functions for arc welding during program execution on page 32 , except that the
values displayed belongs to the active welding robot.
Selecting active welding robot
It is possible to change active welding robot during program execution.
1
Tap Change robot .
2
Select active welding robot.
3
Tap OK to confirm or Cancel to discard changes.
The weld and weave data tuning will now operate on data belonging to the active
welding robot.
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4 Programming RobotWare Arc systems with MultiMove
4.2 Functions for arc welding during program execution
4.3 Configuration
Introduction
In a MultiMove system, the configuration parameter MotionTimeout is of great
importance, especially when running in synchronized mode. The parameter should
have a non-zero value to be able to shut down process equipment when one of
the robots does not start the intended motion after a certain time frame.
Example
The robots ROB1 and ROB2 are both welding in synchronized mode. The
MotionTimeout parameter is set to 1s. Since they are running in synchronized
mode, both of the robots TCP should arrive at the starting position of the weld at
the same time. Both robots strike the arc at the same time. ROB1 gets the Arc OK
signal, the robot is ready to start the motion, the motion timer starts to tick. ROB2
has a problem to ignite properly. That means that during this period ROB1 is
standing still with the arc on. The motion timeout will cause an error after 1 second
in ROB1. Then the error ERR_PATH_STOP will be distributed to the other motion
tasks to react on. This parameter is used to avoid that one of the robots is standing
still with the arc ignited and burning through the material.
Note
When running in synchronized mode, the motion timeout must not be lower than
the ignition timeout value. There is otherwise a risk that the motion timer will
expire before the ignition timer. Since the motion timeout error is non recoverable,
it will hide the real error, arc ignition timeout. The recommendation is to set the
ignition timeout value some milliseconds shorter than the movement timeout
value, 0.05 seconds is sufficient.
Error handling
Error handling in a MultiMove setup (running synchronized) requires that the error
handlers are the same in all robot tasks. That is due to the fact that if there is an
error in one robot, the other robots will also end up in their local error handler.
Example 1
Automatic retries directly after an error.
If no_of_retries is set to a value other than 0, automatic retries will be performed
by RobotWare Arc until no_of_retries has expired. Then the user error handler will
be executed.
If the error handler has the following contents, it will be executed until the error is
fixed or the SYS domain parameter -NoOfRetry has expired.
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
StorePath;
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
RestoPath;
StartMoveRetry;
Example 2
Automatic retry after cleaning the welding torch.
The following is an example of an error handler with the possibility to move to a
service position in the failing robot, clean the welding gun, go back to the error
location and start welding again. The other robots will wait for the failing robot to
get ready and they will all restart the synchronized motion again when the failing
robot executes StartMoveRetry .
VAR robtarget errPos1;
VAR tooldata tErr;
VAR wobjdata obErr;
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
IF ERRNO=AW_WELD_ERR THEN
StorePath;
errPos1:=CRobT(\Tool:=tErr\WObj:=obErr);
MoveL RelTool(errPos1,0,0,-20),v100,fine,tErr\WObj:=obErr;
TPWrite "Cleaning...";
WaitTime 1;
MoveL errPos1,v100,fine,tErr\WObj:=obErr;
RestoPath;
ELSE
StorePath;
RestoPath;
ENDIF
StartMove;
RETRY;
Example 3
The following example shows error handling with the possibility to jog away from
the path at an error, press start and the welding will resume. Here this is done only
at a wire stick error, otherwise automatic cleaning is performed.
VAR robtarget errPos1;
VAR tooldata tErr;
VAR wobjdata obErr;
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
IF ERRNO=AW_WIRE_ERR THEN StorePath;
TPWrite "This error is caused by wire stuck";
TPWrite "Cut the wire and press start !";
Stop;
Continues on next page
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
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4.3 Configuration
Introduction
In a MultiMove system, the configuration parameter MotionTimeout is of great
importance, especially when running in synchronized mode. The parameter should
have a non-zero value to be able to shut down process equipment when one of
the robots does not start the intended motion after a certain time frame.
Example
The robots ROB1 and ROB2 are both welding in synchronized mode. The
MotionTimeout parameter is set to 1s. Since they are running in synchronized
mode, both of the robots TCP should arrive at the starting position of the weld at
the same time. Both robots strike the arc at the same time. ROB1 gets the Arc OK
signal, the robot is ready to start the motion, the motion timer starts to tick. ROB2
has a problem to ignite properly. That means that during this period ROB1 is
standing still with the arc on. The motion timeout will cause an error after 1 second
in ROB1. Then the error ERR_PATH_STOP will be distributed to the other motion
tasks to react on. This parameter is used to avoid that one of the robots is standing
still with the arc ignited and burning through the material.
Note
When running in synchronized mode, the motion timeout must not be lower than
the ignition timeout value. There is otherwise a risk that the motion timer will
expire before the ignition timer. Since the motion timeout error is non recoverable,
it will hide the real error, arc ignition timeout. The recommendation is to set the
ignition timeout value some milliseconds shorter than the movement timeout
value, 0.05 seconds is sufficient.
Error handling
Error handling in a MultiMove setup (running synchronized) requires that the error
handlers are the same in all robot tasks. That is due to the fact that if there is an
error in one robot, the other robots will also end up in their local error handler.
Example 1
Automatic retries directly after an error.
If no_of_retries is set to a value other than 0, automatic retries will be performed
by RobotWare Arc until no_of_retries has expired. Then the user error handler will
be executed.
If the error handler has the following contents, it will be executed until the error is
fixed or the SYS domain parameter -NoOfRetry has expired.
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
StorePath;
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
RestoPath;
StartMoveRetry;
Example 2
Automatic retry after cleaning the welding torch.
The following is an example of an error handler with the possibility to move to a
service position in the failing robot, clean the welding gun, go back to the error
location and start welding again. The other robots will wait for the failing robot to
get ready and they will all restart the synchronized motion again when the failing
robot executes StartMoveRetry .
VAR robtarget errPos1;
VAR tooldata tErr;
VAR wobjdata obErr;
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
IF ERRNO=AW_WELD_ERR THEN
StorePath;
errPos1:=CRobT(\Tool:=tErr\WObj:=obErr);
MoveL RelTool(errPos1,0,0,-20),v100,fine,tErr\WObj:=obErr;
TPWrite "Cleaning...";
WaitTime 1;
MoveL errPos1,v100,fine,tErr\WObj:=obErr;
RestoPath;
ELSE
StorePath;
RestoPath;
ENDIF
StartMove;
RETRY;
Example 3
The following example shows error handling with the possibility to jog away from
the path at an error, press start and the welding will resume. Here this is done only
at a wire stick error, otherwise automatic cleaning is performed.
VAR robtarget errPos1;
VAR tooldata tErr;
VAR wobjdata obErr;
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
IF ERRNO=AW_WIRE_ERR THEN StorePath;
TPWrite "This error is caused by wire stuck";
TPWrite "Cut the wire and press start !";
Stop;
Continues on next page
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
Continued
RestoPath;
StartMove;
RETRY;
ENDIF
IF ERRNO=AW_WELD_ERR THEN
! Automatic move to cleaning position
! Move back to error position and start welding again.
StorePath;
errPos1:=CRobT(\Tool:=tErr);
MoveL RelTool(errPos1,0,0,-50),v10,fine,tErr;
TPWrite "Cleaning...";
WaitTime 1;
MoveL errPos1,v10,fine,tErr;
RestoPath;
StartMove;
RETRY;
ENDIF
Instructions in non-welding robot
Programming RobotWare Arc in synchronized mode with instruction id’s requires
some special considerations for the error handling to work correctly. In the
non-welding robot or additional axis, some new instructions must be used when
there are corresponding weld instructions in the welding robots.
The instructions should be used to ensure that the automatic retry functionality
works correctly and that the error levels are the same in all motion tasks.
Example 1
FlexPositioner ( ArcMoveJ instead of MoveJ )
T_ROB1 (non-welding robot):
ArcMoveJ p2 \ID:=101, v1000, z1, tSvetsbord;
T_ROB2:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1,z1,wGun_ROB2\WObj:=WOBJ_ROB1;
T_ROB3:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB3\WObj:=WOBJ_ROB1;
Example 2
TwinArc ( ArcMoveExtJ instead of MoveExtJ )
STN1 (additional axis):
ArcMoveExtJ p2 \ID:=101, v1000, z1;
T_ROB1:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB1\WObj:=WOBJ_STN1;
T_ROB2:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB2\WObj:=WOBJ_STN1;
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
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RestoPath;
StartMoveRetry;
Example 2
Automatic retry after cleaning the welding torch.
The following is an example of an error handler with the possibility to move to a
service position in the failing robot, clean the welding gun, go back to the error
location and start welding again. The other robots will wait for the failing robot to
get ready and they will all restart the synchronized motion again when the failing
robot executes StartMoveRetry .
VAR robtarget errPos1;
VAR tooldata tErr;
VAR wobjdata obErr;
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
IF ERRNO=AW_WELD_ERR THEN
StorePath;
errPos1:=CRobT(\Tool:=tErr\WObj:=obErr);
MoveL RelTool(errPos1,0,0,-20),v100,fine,tErr\WObj:=obErr;
TPWrite "Cleaning...";
WaitTime 1;
MoveL errPos1,v100,fine,tErr\WObj:=obErr;
RestoPath;
ELSE
StorePath;
RestoPath;
ENDIF
StartMove;
RETRY;
Example 3
The following example shows error handling with the possibility to jog away from
the path at an error, press start and the welding will resume. Here this is done only
at a wire stick error, otherwise automatic cleaning is performed.
VAR robtarget errPos1;
VAR tooldata tErr;
VAR wobjdata obErr;
MoveJ p1, v1000, fine, Rob2_tool\WObj:=wobj_STN1;
ArcLStart p2, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ArcLEnd p6, v1000, sm1, wd1_ind\Weave:=wv0, fine,
Rob2_tool\WObj:=wobj_STN1;
ERROR
IF ERRNO=AW_WIRE_ERR THEN StorePath;
TPWrite "This error is caused by wire stuck";
TPWrite "Cut the wire and press start !";
Stop;
Continues on next page
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
Continued
RestoPath;
StartMove;
RETRY;
ENDIF
IF ERRNO=AW_WELD_ERR THEN
! Automatic move to cleaning position
! Move back to error position and start welding again.
StorePath;
errPos1:=CRobT(\Tool:=tErr);
MoveL RelTool(errPos1,0,0,-50),v10,fine,tErr;
TPWrite "Cleaning...";
WaitTime 1;
MoveL errPos1,v10,fine,tErr;
RestoPath;
StartMove;
RETRY;
ENDIF
Instructions in non-welding robot
Programming RobotWare Arc in synchronized mode with instruction id’s requires
some special considerations for the error handling to work correctly. In the
non-welding robot or additional axis, some new instructions must be used when
there are corresponding weld instructions in the welding robots.
The instructions should be used to ensure that the automatic retry functionality
works correctly and that the error levels are the same in all motion tasks.
Example 1
FlexPositioner ( ArcMoveJ instead of MoveJ )
T_ROB1 (non-welding robot):
ArcMoveJ p2 \ID:=101, v1000, z1, tSvetsbord;
T_ROB2:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1,z1,wGun_ROB2\WObj:=WOBJ_ROB1;
T_ROB3:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB3\WObj:=WOBJ_ROB1;
Example 2
TwinArc ( ArcMoveExtJ instead of MoveExtJ )
STN1 (additional axis):
ArcMoveExtJ p2 \ID:=101, v1000, z1;
T_ROB1:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB1\WObj:=WOBJ_STN1;
T_ROB2:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB2\WObj:=WOBJ_STN1;
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
Continued
Move instructions
The following list shows the move instructions and the corresponding instruction
to use in the non-welding motiontask.
Arc instructions
Move instructions
ArcMoveJ
MoveJ
ArcMoveL
MoveL
ArcMoveC
MoveC
ArcMoveAbsJ
MoveAbsJ
ArcMoveExtJ
MoveExtJ
Configure error handling
The error handling in terms of severity levels of the error, can be configured in
detail. See Configurable error handling on page 231 .
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4.3 Configuration
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RestoPath;
StartMove;
RETRY;
ENDIF
IF ERRNO=AW_WELD_ERR THEN
! Automatic move to cleaning position
! Move back to error position and start welding again.
StorePath;
errPos1:=CRobT(\Tool:=tErr);
MoveL RelTool(errPos1,0,0,-50),v10,fine,tErr;
TPWrite "Cleaning...";
WaitTime 1;
MoveL errPos1,v10,fine,tErr;
RestoPath;
StartMove;
RETRY;
ENDIF
Instructions in non-welding robot
Programming RobotWare Arc in synchronized mode with instruction id’s requires
some special considerations for the error handling to work correctly. In the
non-welding robot or additional axis, some new instructions must be used when
there are corresponding weld instructions in the welding robots.
The instructions should be used to ensure that the automatic retry functionality
works correctly and that the error levels are the same in all motion tasks.
Example 1
FlexPositioner ( ArcMoveJ instead of MoveJ )
T_ROB1 (non-welding robot):
ArcMoveJ p2 \ID:=101, v1000, z1, tSvetsbord;
T_ROB2:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1,z1,wGun_ROB2\WObj:=WOBJ_ROB1;
T_ROB3:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB3\WObj:=WOBJ_ROB1;
Example 2
TwinArc ( ArcMoveExtJ instead of MoveExtJ )
STN1 (additional axis):
ArcMoveExtJ p2 \ID:=101, v1000, z1;
T_ROB1:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB1\WObj:=WOBJ_STN1;
T_ROB2:
ArcL p2 \ID:=101, v1000, sm1, wd2, wv1, z1,
wGun_ROB2\WObj:=WOBJ_STN1;
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
Continued
Move instructions
The following list shows the move instructions and the corresponding instruction
to use in the non-welding motiontask.
Arc instructions
Move instructions
ArcMoveJ
MoveJ
ArcMoveL
MoveL
ArcMoveC
MoveC
ArcMoveAbsJ
MoveAbsJ
ArcMoveExtJ
MoveExtJ
Configure error handling
The error handling in terms of severity levels of the error, can be configured in
detail. See Configurable error handling on page 231 .
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
Continued
4.4 Limitations
Restart distance
It is not possible to have different restart distances if running synchronized motions.
Since it is not possible to determine which robot that controls the restart distance
in this case, the recommendation is to have the same parameter values in each
robot.
Use of finepoint
Finepoint must be used in the arc welding instruction before:
•
SyncMoveOn
•
SyncMoveOff
•
WaitSyncTask
Error handling
If an error handler is present, but it does not handle the error, that is none of the
instructions RETRY , TRYNEXT , RETURN , or RAISE are present in the error handler,
then the active motion path is cleared. That means, that neither regain to path nor
backing on the path is possible. The robot movement starts from the current position
of the TCP, which might result in a path shortcut .
RaiseToUser problem
If ArcL/ArcC instructions are encapsulated by NOSTEPIN / NOVIEW routines, the
ERROR handler of this NOSTEPIN / NOVIEW routine is ignored for the following
recoverable errors:
•
AW_START_ERR
•
AW_IGNI_ERR
•
AW_WELD_ERR
•
AW_EQIP_ERR
•
AW_WIRE_ERR
•
AW_STOP_ERR
•
AW_TRACK_ERR
•
AW_TRACKSTA_ERR
•
AW_TRACKCORR_ERR
•
AW_USERSIG_ERR
•
ERR_PATH_STOP
The system looks for error handlers to be run, starting with the first STEPIN routine
found in the RAPID call chain.
Example
MODULE MY_PROG
PROC main ()
MyArcL;
ERROR
TPWrite "main error handler";
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4 Programming RobotWare Arc systems with MultiMove
4.4 Limitations
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Move instructions
The following list shows the move instructions and the corresponding instruction
to use in the non-welding motiontask.
Arc instructions
Move instructions
ArcMoveJ
MoveJ
ArcMoveL
MoveL
ArcMoveC
MoveC
ArcMoveAbsJ
MoveAbsJ
ArcMoveExtJ
MoveExtJ
Configure error handling
The error handling in terms of severity levels of the error, can be configured in
detail. See Configurable error handling on page 231 .
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4 Programming RobotWare Arc systems with MultiMove
4.3 Configuration
Continued
4.4 Limitations
Restart distance
It is not possible to have different restart distances if running synchronized motions.
Since it is not possible to determine which robot that controls the restart distance
in this case, the recommendation is to have the same parameter values in each
robot.
Use of finepoint
Finepoint must be used in the arc welding instruction before:
•
SyncMoveOn
•
SyncMoveOff
•
WaitSyncTask
Error handling
If an error handler is present, but it does not handle the error, that is none of the
instructions RETRY , TRYNEXT , RETURN , or RAISE are present in the error handler,
then the active motion path is cleared. That means, that neither regain to path nor
backing on the path is possible. The robot movement starts from the current position
of the TCP, which might result in a path shortcut .
RaiseToUser problem
If ArcL/ArcC instructions are encapsulated by NOSTEPIN / NOVIEW routines, the
ERROR handler of this NOSTEPIN / NOVIEW routine is ignored for the following
recoverable errors:
•
AW_START_ERR
•
AW_IGNI_ERR
•
AW_WELD_ERR
•
AW_EQIP_ERR
•
AW_WIRE_ERR
•
AW_STOP_ERR
•
AW_TRACK_ERR
•
AW_TRACKSTA_ERR
•
AW_TRACKCORR_ERR
•
AW_USERSIG_ERR
•
ERR_PATH_STOP
The system looks for error handlers to be run, starting with the first STEPIN routine
found in the RAPID call chain.
Example
MODULE MY_PROG
PROC main ()
MyArcL;
ERROR
TPWrite "main error handler";
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4 Programming RobotWare Arc systems with MultiMove
4.4 Limitations
ENDPROC
ENDMODULE
MODULE MY_ARC (SYSMODULE, NOVIEW)
PROC MyArcL ()
ArcL;
ERROR
TPWrite "MyArcL error handler!";
ENDPROC
ENDMODULE
If an error occurs in ArcL , the error handler of MyArcL is NOT executed (because
MyArcL is part of a NOSTEPIN / NOVIEW module), but the error handler of main is
executed.
Missing instructions in additional axis
If MultiMove cells are configured and setup with an additional axis or positioner,
without any external option from ABB of the type ABB ATRM/AW System Disk,
then the awBase.sys RAPID module must be installed in that task.
If this is not done, it will not be possible to select any of the following non-welding
arc instructions from the pick list on the FlexPendant.
•
ArcMoveExtJ
•
ArcMoveAbsJ
•
ArcMoveL
•
ArcMoveC
•
ArcMoveJ
These instructions must be used to have proper error handling when using
RobotWare Arc in MultiMove. The installation of the module is done by adding the
following to SYS.cfg, where taskname represents the name of the additional axis
RAPID task name.
CAB_TASK_MODULES:
#
-File RELEASE:/options/arc/ArcBase/code/awBase.sys
-ModName "awBase" -Install -Task " taskname "
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4.4 Limitations
Continued
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4.4 Limitations
Restart distance
It is not possible to have different restart distances if running synchronized motions.
Since it is not possible to determine which robot that controls the restart distance
in this case, the recommendation is to have the same parameter values in each
robot.
Use of finepoint
Finepoint must be used in the arc welding instruction before:
•
SyncMoveOn
•
SyncMoveOff
•
WaitSyncTask
Error handling
If an error handler is present, but it does not handle the error, that is none of the
instructions RETRY , TRYNEXT , RETURN , or RAISE are present in the error handler,
then the active motion path is cleared. That means, that neither regain to path nor
backing on the path is possible. The robot movement starts from the current position
of the TCP, which might result in a path shortcut .
RaiseToUser problem
If ArcL/ArcC instructions are encapsulated by NOSTEPIN / NOVIEW routines, the
ERROR handler of this NOSTEPIN / NOVIEW routine is ignored for the following
recoverable errors:
•
AW_START_ERR
•
AW_IGNI_ERR
•
AW_WELD_ERR
•
AW_EQIP_ERR
•
AW_WIRE_ERR
•
AW_STOP_ERR
•
AW_TRACK_ERR
•
AW_TRACKSTA_ERR
•
AW_TRACKCORR_ERR
•
AW_USERSIG_ERR
•
ERR_PATH_STOP
The system looks for error handlers to be run, starting with the first STEPIN routine
found in the RAPID call chain.
Example
MODULE MY_PROG
PROC main ()
MyArcL;
ERROR
TPWrite "main error handler";
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4 Programming RobotWare Arc systems with MultiMove
4.4 Limitations
ENDPROC
ENDMODULE
MODULE MY_ARC (SYSMODULE, NOVIEW)
PROC MyArcL ()
ArcL;
ERROR
TPWrite "MyArcL error handler!";
ENDPROC
ENDMODULE
If an error occurs in ArcL , the error handler of MyArcL is NOT executed (because
MyArcL is part of a NOSTEPIN / NOVIEW module), but the error handler of main is
executed.
Missing instructions in additional axis
If MultiMove cells are configured and setup with an additional axis or positioner,
without any external option from ABB of the type ABB ATRM/AW System Disk,
then the awBase.sys RAPID module must be installed in that task.
If this is not done, it will not be possible to select any of the following non-welding
arc instructions from the pick list on the FlexPendant.
•
ArcMoveExtJ
•
ArcMoveAbsJ
•
ArcMoveL
•
ArcMoveC
•
ArcMoveJ
These instructions must be used to have proper error handling when using
RobotWare Arc in MultiMove. The installation of the module is done by adding the
following to SYS.cfg, where taskname represents the name of the additional axis
RAPID task name.
CAB_TASK_MODULES:
#
-File RELEASE:/options/arc/ArcBase/code/awBase.sys
-ModName "awBase" -Install -Task " taskname "
42
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© Copyright 2004-2024 ABB. All rights reserved.
4 Programming RobotWare Arc systems with MultiMove
4.4 Limitations
Continued
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
Weld Error Recovery
During robot production process errors sometimes stop the robot. The Weld Error
Recovery feature provides several different solutions for process error recovery,
which allows operators to automatically move the robot out from the error position
to get a better overview of the torch. After the process error is corrected the robot
automatically returns back to the error location and continues production. This will
help minimizing production downtime.
Since the creation of safe collision free escape paths for error handling often is
more time consuming than the creation of the actual production program, error
handling under program control is rarely utilized. That is why the Weld Error
Recovery feature is always included with RobotWare Arc, and the basic error
recovery features are available without any additional programming. This includes
FlexPendant screens to provide standard error recovery support for the welding
process.
Advanced features such as the ability to escape to a service location, require
additional programming on the part of the user. The Weld Error Recovery feature
will store position information during execution of the production program, utilizing
a built-in Path Recorder. When an error occurs the stored sequence of position
data is traversed backwards extracting the robot from the work piece. Thus, the
path recorder eliminates any need for additional programming of escape paths.
Basic weld error handling
In its simplest form, when a welding error occurs, a simple prompt will be presented
to the user on the FlexPendant.
![Image]
en1200000691
Continues on next page
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43
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5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
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ENDPROC
ENDMODULE
MODULE MY_ARC (SYSMODULE, NOVIEW)
PROC MyArcL ()
ArcL;
ERROR
TPWrite "MyArcL error handler!";
ENDPROC
ENDMODULE
If an error occurs in ArcL , the error handler of MyArcL is NOT executed (because
MyArcL is part of a NOSTEPIN / NOVIEW module), but the error handler of main is
executed.
Missing instructions in additional axis
If MultiMove cells are configured and setup with an additional axis or positioner,
without any external option from ABB of the type ABB ATRM/AW System Disk,
then the awBase.sys RAPID module must be installed in that task.
If this is not done, it will not be possible to select any of the following non-welding
arc instructions from the pick list on the FlexPendant.
•
ArcMoveExtJ
•
ArcMoveAbsJ
•
ArcMoveL
•
ArcMoveC
•
ArcMoveJ
These instructions must be used to have proper error handling when using
RobotWare Arc in MultiMove. The installation of the module is done by adding the
following to SYS.cfg, where taskname represents the name of the additional axis
RAPID task name.
CAB_TASK_MODULES:
#
-File RELEASE:/options/arc/ArcBase/code/awBase.sys
-ModName "awBase" -Install -Task " taskname "
42
Application manual - Arc and Arc Sensor
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© Copyright 2004-2024 ABB. All rights reserved.
4 Programming RobotWare Arc systems with MultiMove
4.4 Limitations
Continued
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
Weld Error Recovery
During robot production process errors sometimes stop the robot. The Weld Error
Recovery feature provides several different solutions for process error recovery,
which allows operators to automatically move the robot out from the error position
to get a better overview of the torch. After the process error is corrected the robot
automatically returns back to the error location and continues production. This will
help minimizing production downtime.
Since the creation of safe collision free escape paths for error handling often is
more time consuming than the creation of the actual production program, error
handling under program control is rarely utilized. That is why the Weld Error
Recovery feature is always included with RobotWare Arc, and the basic error
recovery features are available without any additional programming. This includes
FlexPendant screens to provide standard error recovery support for the welding
process.
Advanced features such as the ability to escape to a service location, require
additional programming on the part of the user. The Weld Error Recovery feature
will store position information during execution of the production program, utilizing
a built-in Path Recorder. When an error occurs the stored sequence of position
data is traversed backwards extracting the robot from the work piece. Thus, the
path recorder eliminates any need for additional programming of escape paths.
Basic weld error handling
In its simplest form, when a welding error occurs, a simple prompt will be presented
to the user on the FlexPendant.
![Image]
en1200000691
Continues on next page
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43
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© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
If Abort is tapped the program execution will stop and the weld routine in the
program editor window will be shown.
If Move Out is tapped the robot will attempt to move out a small distance along
the tool center line. The Error menu will be shown again. Move Out can be tapped
repeatedly. If Recovery menu is tapped, the user is presented with the Recovery
menu.
![Image]
en1200000692
The Recovery menu is possible to configure to allow for the user to block some
of the available resume features. For example, the user may choose to disable the
"Skip Seam" option. This is described in the Recovery menu configuration section.
The user can add escape functionality to the Error menu by introducing recovery
set points in the program. This allows the user to access the Escape button of the
Weld Error Recovery feature, which is reflected in the Error menu.
![Image]
en1200000693
44
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3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
Continued
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| 44
|
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
Weld Error Recovery
During robot production process errors sometimes stop the robot. The Weld Error
Recovery feature provides several different solutions for process error recovery,
which allows operators to automatically move the robot out from the error position
to get a better overview of the torch. After the process error is corrected the robot
automatically returns back to the error location and continues production. This will
help minimizing production downtime.
Since the creation of safe collision free escape paths for error handling often is
more time consuming than the creation of the actual production program, error
handling under program control is rarely utilized. That is why the Weld Error
Recovery feature is always included with RobotWare Arc, and the basic error
recovery features are available without any additional programming. This includes
FlexPendant screens to provide standard error recovery support for the welding
process.
Advanced features such as the ability to escape to a service location, require
additional programming on the part of the user. The Weld Error Recovery feature
will store position information during execution of the production program, utilizing
a built-in Path Recorder. When an error occurs the stored sequence of position
data is traversed backwards extracting the robot from the work piece. Thus, the
path recorder eliminates any need for additional programming of escape paths.
Basic weld error handling
In its simplest form, when a welding error occurs, a simple prompt will be presented
to the user on the FlexPendant.
![Image]
en1200000691
Continues on next page
Application manual - Arc and Arc Sensor
43
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
If Abort is tapped the program execution will stop and the weld routine in the
program editor window will be shown.
If Move Out is tapped the robot will attempt to move out a small distance along
the tool center line. The Error menu will be shown again. Move Out can be tapped
repeatedly. If Recovery menu is tapped, the user is presented with the Recovery
menu.
![Image]
en1200000692
The Recovery menu is possible to configure to allow for the user to block some
of the available resume features. For example, the user may choose to disable the
"Skip Seam" option. This is described in the Recovery menu configuration section.
The user can add escape functionality to the Error menu by introducing recovery
set points in the program. This allows the user to access the Escape button of the
Weld Error Recovery feature, which is reflected in the Error menu.
![Image]
en1200000693
44
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3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
Continued
5.2 Programming Weld Error Recovery
Basic usage - Example
The user programs a simple weld routine without adding any of the advanced tools
provided by Weld Error Recovery.
PROC WeldMyTruck ()
MoveJ *,vmax,z10,tWeldGun; MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500, sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
If an error occurs during the weld seam, the Error Menu will be presented without
the Escape button:
![Image]
en1200000691
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
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| 45
|
If Abort is tapped the program execution will stop and the weld routine in the
program editor window will be shown.
If Move Out is tapped the robot will attempt to move out a small distance along
the tool center line. The Error menu will be shown again. Move Out can be tapped
repeatedly. If Recovery menu is tapped, the user is presented with the Recovery
menu.
![Image]
en1200000692
The Recovery menu is possible to configure to allow for the user to block some
of the available resume features. For example, the user may choose to disable the
"Skip Seam" option. This is described in the Recovery menu configuration section.
The user can add escape functionality to the Error menu by introducing recovery
set points in the program. This allows the user to access the Escape button of the
Weld Error Recovery feature, which is reflected in the Error menu.
![Image]
en1200000693
44
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3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.1 Weld Error Recovery and error handling
Continued
5.2 Programming Weld Error Recovery
Basic usage - Example
The user programs a simple weld routine without adding any of the advanced tools
provided by Weld Error Recovery.
PROC WeldMyTruck ()
MoveJ *,vmax,z10,tWeldGun; MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500, sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
If an error occurs during the weld seam, the Error Menu will be presented without
the Escape button:
![Image]
en1200000691
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
The user can tap Move Out to extract the tool from the partially welded part in
increments. Tapping Abort , stops execution. Tapping Recovery menu will bring
up the Recovery menu.
![Image]
en1200000692
When Resume is selected the robot executes a standard retry with the configured
restart distance.
If Skip Seam is selected, the robot will finish the seam without welding. The
specified welding speed will be used for the remaining part of the segment, the
next segment within the same seam will use the speed specified in the Speed
argument of the ArcX instruction. Welding will resume at the next ArcLStart
instruction.
If Skip Part is selected, the robot will run without welding until the next part is
executed ( Production Manager ) or until the RecoveryPosReset instruction is
executed. The specified welding speed will be used for the remaining part of the
segment, the next segments will use the speed specified in the Speed argument
of the ArcX instruction. Welding will resume at the next ArcXStart instruction.
If Skip forward is selected, the robot will skip forward a selectable distance on the
programmed path without process, and then make a normal weld retry with process
Continues on next page
46
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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| 46
|
5.2 Programming Weld Error Recovery
Basic usage - Example
The user programs a simple weld routine without adding any of the advanced tools
provided by Weld Error Recovery.
PROC WeldMyTruck ()
MoveJ *,vmax,z10,tWeldGun; MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500, sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
If an error occurs during the weld seam, the Error Menu will be presented without
the Escape button:
![Image]
en1200000691
Continues on next page
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45
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© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.2 Programming Weld Error Recovery
The user can tap Move Out to extract the tool from the partially welded part in
increments. Tapping Abort , stops execution. Tapping Recovery menu will bring
up the Recovery menu.
![Image]
en1200000692
When Resume is selected the robot executes a standard retry with the configured
restart distance.
If Skip Seam is selected, the robot will finish the seam without welding. The
specified welding speed will be used for the remaining part of the segment, the
next segment within the same seam will use the speed specified in the Speed
argument of the ArcX instruction. Welding will resume at the next ArcLStart
instruction.
If Skip Part is selected, the robot will run without welding until the next part is
executed ( Production Manager ) or until the RecoveryPosReset instruction is
executed. The specified welding speed will be used for the remaining part of the
segment, the next segments will use the speed specified in the Speed argument
of the ArcX instruction. Welding will resume at the next ArcXStart instruction.
If Skip forward is selected, the robot will skip forward a selectable distance on the
programmed path without process, and then make a normal weld retry with process
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
activation at that position. The forward skip distance is entered via the following
user dialog.
![Image]
en1200000695
Advanced usage - Example 1
By adding a recovery set point, escape is made possible. Consider this example:
PROC WeldMyTruck()
RecoveryPosSet;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun; MoveJ *,vmax,z10,tWeldGun;
RecoveryPosReset;
ENDPROC
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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| 47
|
The user can tap Move Out to extract the tool from the partially welded part in
increments. Tapping Abort , stops execution. Tapping Recovery menu will bring
up the Recovery menu.
![Image]
en1200000692
When Resume is selected the robot executes a standard retry with the configured
restart distance.
If Skip Seam is selected, the robot will finish the seam without welding. The
specified welding speed will be used for the remaining part of the segment, the
next segment within the same seam will use the speed specified in the Speed
argument of the ArcX instruction. Welding will resume at the next ArcLStart
instruction.
If Skip Part is selected, the robot will run without welding until the next part is
executed ( Production Manager ) or until the RecoveryPosReset instruction is
executed. The specified welding speed will be used for the remaining part of the
segment, the next segments will use the speed specified in the Speed argument
of the ArcX instruction. Welding will resume at the next ArcXStart instruction.
If Skip forward is selected, the robot will skip forward a selectable distance on the
programmed path without process, and then make a normal weld retry with process
Continues on next page
46
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
activation at that position. The forward skip distance is entered via the following
user dialog.
![Image]
en1200000695
Advanced usage - Example 1
By adding a recovery set point, escape is made possible. Consider this example:
PROC WeldMyTruck()
RecoveryPosSet;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun; MoveJ *,vmax,z10,tWeldGun;
RecoveryPosReset;
ENDPROC
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
The instruction RecoveryPosSet is used to set the recovery set point. If an error
occurs during the weld seam, the error menu will display an Escape button:
![Image]
en1200000691
Tapping Escape causes the robot to retrace its path to the recovery position set
by the RecoveryPosSet instruction. At that location the recovery menu is
displayed. This simple implementation is useful when the user would like the robot
to move back to a position that is clear of the part and accessible for service.
The path recorder is stopped and the service routine cleared using the RAPID
instruction, RecoveryPosReset . The instruction takes no arguments. This
instruction should be used at the end of the weld sequence to ensure that the path
recorder is stopped and cleared before starting a new weld sequence. A failure to
do so could result in undesirable results, as an old recovery set point could remain
active during a new weld sequence. This type of implementation is typically done
in the following way:
PROC main()
MoveJ pSafe,vmax,fine,tool0;
RecoveryPosSet;
TEST nSelection
CASE 1:
WeldMyTruck;
CASE 2:
WeldMyCar;
ENDTEST
RecoveryPosReset;
ENDPROC
PROC WeldMyTruck()
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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| 48
|
activation at that position. The forward skip distance is entered via the following
user dialog.
![Image]
en1200000695
Advanced usage - Example 1
By adding a recovery set point, escape is made possible. Consider this example:
PROC WeldMyTruck()
RecoveryPosSet;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500, sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun; MoveJ *,vmax,z10,tWeldGun;
RecoveryPosReset;
ENDPROC
Continues on next page
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47
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© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
The instruction RecoveryPosSet is used to set the recovery set point. If an error
occurs during the weld seam, the error menu will display an Escape button:
![Image]
en1200000691
Tapping Escape causes the robot to retrace its path to the recovery position set
by the RecoveryPosSet instruction. At that location the recovery menu is
displayed. This simple implementation is useful when the user would like the robot
to move back to a position that is clear of the part and accessible for service.
The path recorder is stopped and the service routine cleared using the RAPID
instruction, RecoveryPosReset . The instruction takes no arguments. This
instruction should be used at the end of the weld sequence to ensure that the path
recorder is stopped and cleared before starting a new weld sequence. A failure to
do so could result in undesirable results, as an old recovery set point could remain
active during a new weld sequence. This type of implementation is typically done
in the following way:
PROC main()
MoveJ pSafe,vmax,fine,tool0;
RecoveryPosSet;
TEST nSelection
CASE 1:
WeldMyTruck;
CASE 2:
WeldMyCar;
ENDTEST
RecoveryPosReset;
ENDPROC
PROC WeldMyTruck()
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
This type of implementation also provides escape behavior for multiple part
procedures shown in the test case logic above.
Advanced usage - Example 2
Recovery positions may be set at any point in a weld sequence. In some cases it
may be necessary to have an alternate recovery position that is set mid-weld. This
is perfectly ok.
PROC WeldMyCar()
RecoveryPosSet;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
SetDO doClamp,high;
RecoveryPosSet;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
RecoveryPosReset;
ENDPROC
An implementation like this is useful if the robot is not permitted to move backward
past the SetDO instruction.
Advanced usage - Example 3
Using the service routine feature will extend the Weld Error Recovery escape
functionality. The service routine is a user-defined procedure that is launched after
the robot retraces a recorded path back to a recovery position. The routine may
be used to move the robot from the recovery position to a service location, or any
other behavior that can be implemented in RAPID. Consider the following example:
PROC main()MoveJ pSafe,vmax,fine,tool0;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
TEST nSelect
CASE 1:
WeldMyTruck;
CASE 2:
WeldMyCar;
ENDTEST
RecoveryPosReset;
ENDPROC
PROC WeldMyTruck ()
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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The instruction RecoveryPosSet is used to set the recovery set point. If an error
occurs during the weld seam, the error menu will display an Escape button:
![Image]
en1200000691
Tapping Escape causes the robot to retrace its path to the recovery position set
by the RecoveryPosSet instruction. At that location the recovery menu is
displayed. This simple implementation is useful when the user would like the robot
to move back to a position that is clear of the part and accessible for service.
The path recorder is stopped and the service routine cleared using the RAPID
instruction, RecoveryPosReset . The instruction takes no arguments. This
instruction should be used at the end of the weld sequence to ensure that the path
recorder is stopped and cleared before starting a new weld sequence. A failure to
do so could result in undesirable results, as an old recovery set point could remain
active during a new weld sequence. This type of implementation is typically done
in the following way:
PROC main()
MoveJ pSafe,vmax,fine,tool0;
RecoveryPosSet;
TEST nSelection
CASE 1:
WeldMyTruck;
CASE 2:
WeldMyCar;
ENDTEST
RecoveryPosReset;
ENDPROC
PROC WeldMyTruck()
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
This type of implementation also provides escape behavior for multiple part
procedures shown in the test case logic above.
Advanced usage - Example 2
Recovery positions may be set at any point in a weld sequence. In some cases it
may be necessary to have an alternate recovery position that is set mid-weld. This
is perfectly ok.
PROC WeldMyCar()
RecoveryPosSet;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
SetDO doClamp,high;
RecoveryPosSet;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
RecoveryPosReset;
ENDPROC
An implementation like this is useful if the robot is not permitted to move backward
past the SetDO instruction.
Advanced usage - Example 3
Using the service routine feature will extend the Weld Error Recovery escape
functionality. The service routine is a user-defined procedure that is launched after
the robot retraces a recorded path back to a recovery position. The routine may
be used to move the robot from the recovery position to a service location, or any
other behavior that can be implemented in RAPID. Consider the following example:
PROC main()MoveJ pSafe,vmax,fine,tool0;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
TEST nSelect
CASE 1:
WeldMyTruck;
CASE 2:
WeldMyCar;
ENDTEST
RecoveryPosReset;
ENDPROC
PROC WeldMyTruck ()
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveJ pSafe,vmax,z10,tool0;
ENDPROC
In this example, the optional argument ServRoutine is applied to
RecoveryPosSet . The procedure name ServiceRoutine has been applied as the
name of the service routine. If an error occurs during the weld seam and the user
selects Escape from the Error Menu, the robot will retrace its path back to the
RecoveryPosSet location. Then the ServiceRoutine procedure will be executed.
If the specified ServiceRoutine cannot be located in the RAPID program, the
following user menu will be displayed.
![Image]
en1200000696
Tapping OK continues program execution as if no Serviceroutine has been
specified.
The ServiceRoutine example above is an example of a service routine that can be
created by a RAPID programmer. The Weld Error Recovery feature does not provide
the ServiceRoutine procedure. In this example the service routine contains move
instructions that move the robot from the safe position, pSafe, to a special service
position called pService . Once this position is reached, an instruction called
Continues on next page
50
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© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
This type of implementation also provides escape behavior for multiple part
procedures shown in the test case logic above.
Advanced usage - Example 2
Recovery positions may be set at any point in a weld sequence. In some cases it
may be necessary to have an alternate recovery position that is set mid-weld. This
is perfectly ok.
PROC WeldMyCar()
RecoveryPosSet;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
SetDO doClamp,high;
RecoveryPosSet;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
RecoveryPosReset;
ENDPROC
An implementation like this is useful if the robot is not permitted to move backward
past the SetDO instruction.
Advanced usage - Example 3
Using the service routine feature will extend the Weld Error Recovery escape
functionality. The service routine is a user-defined procedure that is launched after
the robot retraces a recorded path back to a recovery position. The routine may
be used to move the robot from the recovery position to a service location, or any
other behavior that can be implemented in RAPID. Consider the following example:
PROC main()MoveJ pSafe,vmax,fine,tool0;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
TEST nSelect
CASE 1:
WeldMyTruck;
CASE 2:
WeldMyCar;
ENDTEST
RecoveryPosReset;
ENDPROC
PROC WeldMyTruck ()
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ArcLStart *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
ArcL *,v500,sm1,wd1\Weave:=wv1,z10,tWeldGun;
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveJ pSafe,vmax,z10,tool0;
ENDPROC
In this example, the optional argument ServRoutine is applied to
RecoveryPosSet . The procedure name ServiceRoutine has been applied as the
name of the service routine. If an error occurs during the weld seam and the user
selects Escape from the Error Menu, the robot will retrace its path back to the
RecoveryPosSet location. Then the ServiceRoutine procedure will be executed.
If the specified ServiceRoutine cannot be located in the RAPID program, the
following user menu will be displayed.
![Image]
en1200000696
Tapping OK continues program execution as if no Serviceroutine has been
specified.
The ServiceRoutine example above is an example of a service routine that can be
created by a RAPID programmer. The Weld Error Recovery feature does not provide
the ServiceRoutine procedure. In this example the service routine contains move
instructions that move the robot from the safe position, pSafe, to a special service
position called pService . Once this position is reached, an instruction called
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
RecoveryMenu is called. The Weld Error Recovery feature provides this instruction.
RecoveryMenu is a RAPID instruction that launches the standard Recovery Menu.
![Image]
en1200000692
After the operator makes the recovery choice, the robot executes the programmed
moves back to the recovery set point location, in this case pSafe . This completes
the user-defined ServiceRoutine procedure. If the robot is not moved back to the
recovery set point location in the ServiceRoutine , the following user dialog will be
displayed.
![Image]
en1200000697
Tapping OK moves the robot to the recovery set point.
At this point, the Weld Error Recovery feature takes over and executes the path
recorder to the error location and the selected recovery behavior is executed.
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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ArcLEnd *,v500,sm1,wd1\Weave:=wv1,fine,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
MoveJ *,vmax,z10,tWeldGun;
ENDPROC
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveJ pSafe,vmax,z10,tool0;
ENDPROC
In this example, the optional argument ServRoutine is applied to
RecoveryPosSet . The procedure name ServiceRoutine has been applied as the
name of the service routine. If an error occurs during the weld seam and the user
selects Escape from the Error Menu, the robot will retrace its path back to the
RecoveryPosSet location. Then the ServiceRoutine procedure will be executed.
If the specified ServiceRoutine cannot be located in the RAPID program, the
following user menu will be displayed.
![Image]
en1200000696
Tapping OK continues program execution as if no Serviceroutine has been
specified.
The ServiceRoutine example above is an example of a service routine that can be
created by a RAPID programmer. The Weld Error Recovery feature does not provide
the ServiceRoutine procedure. In this example the service routine contains move
instructions that move the robot from the safe position, pSafe, to a special service
position called pService . Once this position is reached, an instruction called
Continues on next page
50
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
RecoveryMenu is called. The Weld Error Recovery feature provides this instruction.
RecoveryMenu is a RAPID instruction that launches the standard Recovery Menu.
![Image]
en1200000692
After the operator makes the recovery choice, the robot executes the programmed
moves back to the recovery set point location, in this case pSafe . This completes
the user-defined ServiceRoutine procedure. If the robot is not moved back to the
recovery set point location in the ServiceRoutine , the following user dialog will be
displayed.
![Image]
en1200000697
Tapping OK moves the robot to the recovery set point.
At this point, the Weld Error Recovery feature takes over and executes the path
recorder to the error location and the selected recovery behavior is executed.
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
Advanced usage - Example 4
It is possible to create RAPID driven user menus. These menus enable interaction
so that an operator can respond by making choices from a menu list.
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
ServiceMenu;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveJ pSafe,v1000,z10,tool0;
ENDPROC
PROC ServiceMenu()
VAR num nListIndex;
VAR listitem liMyItems{2};
VAR btnres button_answer;
liMyItems{1}.text:="Service Welding Torch";
liMyItems{2}.text:="Check Tool Calibration";
liMyItems{1}.image:="TorchService48.bmp";
liMyItems{2}.image:="ToolCalibration48.bmp";
nListIndex:=UIListView(\Result:=button_answer,\Header:="Service
Menu",liMyItems\Icon:=iconInfo);
IF nListIndex = 1 THEN
TorchService;
ELSEIF nListIndex = 2 THEN
ToolCalibration;
ENDIF
ENDPROC
PROC TorchService()
MoveJ RelTool(pToolClean,0,0,-200),v1000,z1,tool0;
MoveL pToolClean,v1000,fine,tool0;
! Run torch cleaner here
MoveL RelTool(pToolClean,0,0,-200),v1000,z1,tool0;
MoveJ pService,v1000,z10,tool0;
ENDPROC
PROC ToolCalibration()
MoveJ RelTool(pToolCalib,0,0,-200),v1000,z1,toll0;
MoveL pToolCalib,v1000,fine,tool0;
! Run BullsEye TCP calibration here
MoveL RelTool(pToolCalib,0,0,-200),v1000,z1,toll0;
MoveJ pService,v1000,z10,tool0;
ENDPROC
In this example we have extended the service routine with a call to a user defined
service menu, called ServiceMenu . The service menu will present two choices for
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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RecoveryMenu is called. The Weld Error Recovery feature provides this instruction.
RecoveryMenu is a RAPID instruction that launches the standard Recovery Menu.
![Image]
en1200000692
After the operator makes the recovery choice, the robot executes the programmed
moves back to the recovery set point location, in this case pSafe . This completes
the user-defined ServiceRoutine procedure. If the robot is not moved back to the
recovery set point location in the ServiceRoutine , the following user dialog will be
displayed.
![Image]
en1200000697
Tapping OK moves the robot to the recovery set point.
At this point, the Weld Error Recovery feature takes over and executes the path
recorder to the error location and the selected recovery behavior is executed.
Continues on next page
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
Advanced usage - Example 4
It is possible to create RAPID driven user menus. These menus enable interaction
so that an operator can respond by making choices from a menu list.
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
ServiceMenu;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveJ pSafe,v1000,z10,tool0;
ENDPROC
PROC ServiceMenu()
VAR num nListIndex;
VAR listitem liMyItems{2};
VAR btnres button_answer;
liMyItems{1}.text:="Service Welding Torch";
liMyItems{2}.text:="Check Tool Calibration";
liMyItems{1}.image:="TorchService48.bmp";
liMyItems{2}.image:="ToolCalibration48.bmp";
nListIndex:=UIListView(\Result:=button_answer,\Header:="Service
Menu",liMyItems\Icon:=iconInfo);
IF nListIndex = 1 THEN
TorchService;
ELSEIF nListIndex = 2 THEN
ToolCalibration;
ENDIF
ENDPROC
PROC TorchService()
MoveJ RelTool(pToolClean,0,0,-200),v1000,z1,tool0;
MoveL pToolClean,v1000,fine,tool0;
! Run torch cleaner here
MoveL RelTool(pToolClean,0,0,-200),v1000,z1,tool0;
MoveJ pService,v1000,z10,tool0;
ENDPROC
PROC ToolCalibration()
MoveJ RelTool(pToolCalib,0,0,-200),v1000,z1,toll0;
MoveL pToolCalib,v1000,fine,tool0;
! Run BullsEye TCP calibration here
MoveL RelTool(pToolCalib,0,0,-200),v1000,z1,toll0;
MoveJ pService,v1000,z10,tool0;
ENDPROC
In this example we have extended the service routine with a call to a user defined
service menu, called ServiceMenu . The service menu will present two choices for
Continues on next page
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© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
the operator, Service Welding Torch and Check Tool Calibration . This is what the
service menu in this example would look as follows.
![Image]
en1200000698
If the operator selects Service Welding Torch , the routine TorchService will be
executed. In this example the torch service routine contains move instructions that
move the robot from the service position, pService, to the torch service position,
pToolClean. Once this position is reached, instructions for running the torch cleaner
device may be added to this routine. After the torch has been serviced the robot
executes the programmed moves back to the service location, in this case pService.
This completes the user-defined ServiceRoutine procedure. The tool calibration
routine is implemented in a similar fashion.
Application manual - Arc and Arc Sensor
53
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
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