Document Name stringclasses 11
values | URL stringclasses 11
values | page_number int64 1 1.26k | full_text stringlengths 65 18.2k |
|---|---|---|---|
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 43 | 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 ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 44 | 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]
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3
Select Part name in list and tap ABC… .
![Image]
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Continue... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 45 | 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… .
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44
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 46 | 6
Tap the button ... to browse for module.
![Image]
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7
Select module.
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Continues on next page
Application manual - Production Manager
45
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.5.2 Create a new part
Continued
8
... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 47 | 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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46
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager u... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 48 | 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 crea... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 49 | 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 d... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 50 | 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 ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 51 | 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 outsi... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 52 | 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]... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 53 | This page is intentionally left blank
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 configur... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 54 | 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... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 55 | ![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 cons... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 56 | 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
valu... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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 ind... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 58 | 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 ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 59 | 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 grant... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 60 | 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",
"GapIRB140I... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 61 | This page is intentionally left blank
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... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 62 | 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 Productio... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 63 | 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 t... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 64 | 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 ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 65 | 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, inPl... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 66 | PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB1"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB2"), mdRobSafeAll;
PMgrRunMenu \ TaskNumber:=GapTaskIndex("T_ROB3"), mdRobSafeAll;
Application manual - Production Manager
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© Copyright 2014-2021 ABB. All rights reserved.
4 Producti... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 67 | This page is intentionally left blank
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 orde... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 68 | 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.
Pr... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 69 | 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 ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 70 | 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 > ';'
Application manual - Production Manager
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3HAC052855-001 Revision: C
© Copyrig... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 71 | 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 tmpP... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 72 | 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 mnuB... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 73 | 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 declarati... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 74 | 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 ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 75 | 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 nu... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 76 | 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
! Dat... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 77 | 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
... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 78 | 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... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 79 | 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:= PMgrTaskNam... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 80 | 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
Pub... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 81 | 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-S... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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. ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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]
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2
In the Production Manager main menu select Part Handling .
![Image]
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82
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Tap Seam Displacement on the bottom menu.
![Image]
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6 Seam Displacement options
6.2 Starting Seam Displacement option
Continued
6.3 Functions available in Seam Displacement
FlexPendant ... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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 u... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 86 | Related information
Positions can also be modified by jogging the robot to the new position.
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© Copyright 2014-2021 ABB. All rights reserved.
6 Seam Displacement options
6.3 Functions available in Seam Displacement
Continued
This page is intentionall... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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
... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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_PO... |
ABB_Application_Manual_Production_Manager | https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf | 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
PuDo... |
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... |
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
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ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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 subjec... |
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 manu... |
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 ass... |
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 war... |
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 .......................................................... |
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... |
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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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 se... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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 A... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 12 | 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 th... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 13 | 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 th... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 14 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 15 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 16 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 17 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 18 | 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 Lase... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 19 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 20 | 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
... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 21 | This page is intentionally left blank
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 paramet... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 22 | 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
Whe... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 23 | 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 i... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 24 | 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 ,... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 25 | 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... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 26 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 27 | 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... |
ABB_Application_Manual_Arc_and_Arc_Sensor | 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 wel... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 29 | 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 origin... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 30 | 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 betw... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 31 | 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 di... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 32 | 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 Clo... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 33 | 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.
Not... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 34 | 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... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 35 | This page is intentionally left blank
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... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 36 | 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 i... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 37 | 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 weld... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 38 | 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 c... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 39 | 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... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 40 | 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;
Start... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 41 | 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 sever... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 42 | 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 mu... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 43 | 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 inst... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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 t... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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\We... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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 Se... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 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;
ArcLS... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 49 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 50 | 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 ... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 51 | 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 ex... |
ABB_Application_Manual_Arc_and_Arc_Sensor | https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf | 52 | 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 ... |
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