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ABB_Application_Manual_Arc_and_Arc_Sensor
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https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
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Flying start
When using flying start the system will trigger the ignition when the TCP passes
the starting point. The TCP will be moving and it will change to welding speed as
close as possible to the zone centre. Due to the movement the actual position for
the start point of the weld will be some distance away from the starting point. That
distance is a result of the welding speed and the ignition time of the actual welder.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start . The starting point must be a zone.
Flying start ignores the PRE supervision phase. Instead there is a ignition
supervision distance that is given with the parameter superv_distance . If no
ignition has occurred within that distance an ignition error will raise.
Flying start can be deactivated by setting the parameter active to false. By doing
so the start will be treated as a normal weld start with a stopping TCP. The zone
point will be automatic changed to a stop point ( fine ).
Flying start will not be used when restarting after an ignition error or any other
weld error.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Limitations
ArcLStart , ArcL1Start , ArcL2Start cannot be executed in an UNDO handler
or RAPID routine connected to any of the following special system events: PowerOn,
Stop, QStop, Restart, Reset or Step.
Syntax
ArcLStart
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>','
[Seam ':='] <persistent ( PERS ) of seamdata>','
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':=' <persistent ( PERS ) of weavedata>]','
[Zone ':='] <expression ( IN ) of zonedata>','
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr]
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
|['\' PreProcessTracking]
['\' SeamName ':=' <expression ( IN ) of string>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]
['\' FlyStart ':='] <persistent ( PERS ) of flystartdata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
flystartdata - Flying start data on page 175
Definition of flying start data
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
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The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Limitations
ArcLStart , ArcL1Start , ArcL2Start cannot be executed in an UNDO handler
or RAPID routine connected to any of the following special system events: PowerOn,
Stop, QStop, Restart, Reset or Step.
Syntax
ArcLStart
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>','
[Seam ':='] <persistent ( PERS ) of seamdata>','
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':=' <persistent ( PERS ) of weavedata>]','
[Zone ':='] <expression ( IN ) of zonedata>','
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr]
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
|['\' PreProcessTracking]
['\' SeamName ':=' <expression ( IN ) of string>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]
['\' FlyStart ':='] <persistent ( PERS ) of flystartdata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
flystartdata - Flying start data on page 175
Definition of flying start data
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Described in
Information
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
155
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
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| 155
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Limitations
ArcLStart , ArcL1Start , ArcL2Start cannot be executed in an UNDO handler
or RAPID routine connected to any of the following special system events: PowerOn,
Stop, QStop, Restart, Reset or Step.
Syntax
ArcLStart
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>','
[Seam ':='] <persistent ( PERS ) of seamdata>','
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':=' <persistent ( PERS ) of weavedata>]','
[Zone ':='] <expression ( IN ) of zonedata>','
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr]
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
|['\' PreProcessTracking]
['\' SeamName ':=' <expression ( IN ) of string>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]
['\' FlyStart ':='] <persistent ( PERS ) of flystartdata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
flystartdata - Flying start data on page 175
Definition of flying start data
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Described in
Information
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
155
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
Usage
ArcMoveExtJ ( Move External Joints ) is used to move linear or rotating additional
axes in a MultiMove system, if the RAPID program for the additional axis is
coordinated with an arc instruction. The additional axes can belong to one or
several mechanical units without TCP. This instruction can only be used with an
actual program task defined as a motion task and if the task controls one or several
mechanical units without TCP.
ArcMoveExtJ is almost a copy of the MoveExtJ instruction but has integrated
error handling for RobotWare Arc .
ArcMoveExtJ must be used together with ArcX instructions in the robot task.
Basic examples
The following example illustrates the instruction ArcMoveExtJ .
Example 1
ActUnit STN1;
SyncMoveOn sync001, allTasks;
MoveExtJ p10\ID:=10,vrot_max, z10;
MoveExtJ p20\ID:=20,vrot_max, z10;
ArcMoveExtJ p30\ID:=30, vrot50, fine\Start;
ArcMoveExtJ p40\ID:=40, vrot50, z10;
Arguments
ArcMoveExtJ [\Conc] ToJointPos [\ID] Speed [\T] Zone [\InPos]
[\Start]
[\Conc]
Data type: switch
Subsequent instructions are executed while the external axis is moving. The
argument is usually not used but can be used to avoid unwanted stops caused by
overloaded CPU when using fly-by points. This is useful when the programmed
points are very close together at high speeds. The argument is also useful when,
for example, communicating with external equipment and synchronization between
the external equipment and robot movement is not required.
ToJointPos
Data type: robtarget
The destination absolute joint position of the external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
Continues on next page
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7 RAPID reference
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
RobotWare Arc
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Described in
Information
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
155
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
Usage
ArcMoveExtJ ( Move External Joints ) is used to move linear or rotating additional
axes in a MultiMove system, if the RAPID program for the additional axis is
coordinated with an arc instruction. The additional axes can belong to one or
several mechanical units without TCP. This instruction can only be used with an
actual program task defined as a motion task and if the task controls one or several
mechanical units without TCP.
ArcMoveExtJ is almost a copy of the MoveExtJ instruction but has integrated
error handling for RobotWare Arc .
ArcMoveExtJ must be used together with ArcX instructions in the robot task.
Basic examples
The following example illustrates the instruction ArcMoveExtJ .
Example 1
ActUnit STN1;
SyncMoveOn sync001, allTasks;
MoveExtJ p10\ID:=10,vrot_max, z10;
MoveExtJ p20\ID:=20,vrot_max, z10;
ArcMoveExtJ p30\ID:=30, vrot50, fine\Start;
ArcMoveExtJ p40\ID:=40, vrot50, z10;
Arguments
ArcMoveExtJ [\Conc] ToJointPos [\ID] Speed [\T] Zone [\InPos]
[\Start]
[\Conc]
Data type: switch
Subsequent instructions are executed while the external axis is moving. The
argument is usually not used but can be used to avoid unwanted stops caused by
overloaded CPU when using fly-by points. This is useful when the programmed
points are very close together at high speeds. The argument is also useful when,
for example, communicating with external equipment and synchronization between
the external equipment and robot movement is not required.
ToJointPos
Data type: robtarget
The destination absolute joint position of the external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
Continues on next page
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7 RAPID reference
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
RobotWare Arc
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the
linear or rotating additional axis.
[\T]
Data type: num
This argument is used to specify the total time in seconds during which the
additional axis moves. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a
fly-by point then the zone size describes the deceleration and acceleration for the
linear or rotational additional axis.
[\InPos]
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the
external axis in the stop point. The stop point data substitutes the zone specified
in the Zone parameter.
[\Start]
Data type: switch
This argument must be used to indicate start to the corresponding ArcLStart
instruction in a MultiMove system (synchronized).
Limitations
ArcMoveExtJ cannot be executed in an UNDO handler or RAPID routine connected
to any of the following special system events: PowerOn, Stop, QStop, Restart,
Reset or Step.
Syntax
ArcMoveExtJ
['\' Conc ',']
[ToJointPos ':='] <expression ( IN ) of jointtarget>
['\' ID ':=' <expression ( IN ) of identno>]','
[Speed ':='] <expression ( IN ) of speeddata>
['\' T ':=' <expression ( IN ) of num>]','
[Zone ':='] <expression ( IN ) of zonedata>
['\' Inpos ':=' <expression ( IN ) of stoppointdata>]','
['\' Start]';'
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7 RAPID reference
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
RobotWare Arc
Continued
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7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
Usage
ArcMoveExtJ ( Move External Joints ) is used to move linear or rotating additional
axes in a MultiMove system, if the RAPID program for the additional axis is
coordinated with an arc instruction. The additional axes can belong to one or
several mechanical units without TCP. This instruction can only be used with an
actual program task defined as a motion task and if the task controls one or several
mechanical units without TCP.
ArcMoveExtJ is almost a copy of the MoveExtJ instruction but has integrated
error handling for RobotWare Arc .
ArcMoveExtJ must be used together with ArcX instructions in the robot task.
Basic examples
The following example illustrates the instruction ArcMoveExtJ .
Example 1
ActUnit STN1;
SyncMoveOn sync001, allTasks;
MoveExtJ p10\ID:=10,vrot_max, z10;
MoveExtJ p20\ID:=20,vrot_max, z10;
ArcMoveExtJ p30\ID:=30, vrot50, fine\Start;
ArcMoveExtJ p40\ID:=40, vrot50, z10;
Arguments
ArcMoveExtJ [\Conc] ToJointPos [\ID] Speed [\T] Zone [\InPos]
[\Start]
[\Conc]
Data type: switch
Subsequent instructions are executed while the external axis is moving. The
argument is usually not used but can be used to avoid unwanted stops caused by
overloaded CPU when using fly-by points. This is useful when the programmed
points are very close together at high speeds. The argument is also useful when,
for example, communicating with external equipment and synchronization between
the external equipment and robot movement is not required.
ToJointPos
Data type: robtarget
The destination absolute joint position of the external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
Continues on next page
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7 RAPID reference
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
RobotWare Arc
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the
linear or rotating additional axis.
[\T]
Data type: num
This argument is used to specify the total time in seconds during which the
additional axis moves. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a
fly-by point then the zone size describes the deceleration and acceleration for the
linear or rotational additional axis.
[\InPos]
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the
external axis in the stop point. The stop point data substitutes the zone specified
in the Zone parameter.
[\Start]
Data type: switch
This argument must be used to indicate start to the corresponding ArcLStart
instruction in a MultiMove system (synchronized).
Limitations
ArcMoveExtJ cannot be executed in an UNDO handler or RAPID routine connected
to any of the following special system events: PowerOn, Stop, QStop, Restart,
Reset or Step.
Syntax
ArcMoveExtJ
['\' Conc ',']
[ToJointPos ':='] <expression ( IN ) of jointtarget>
['\' ID ':=' <expression ( IN ) of identno>]','
[Speed ':='] <expression ( IN ) of speeddata>
['\' T ':=' <expression ( IN ) of num>]','
[Zone ':='] <expression ( IN ) of zonedata>
['\' Inpos ':=' <expression ( IN ) of stoppointdata>]','
['\' Start]';'
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
RobotWare Arc
Continued
7.1.8 ArcRefresh - Refresh arc weld data
Usage
ArcRefresh is used to tune arc welding process parameters during program
execution.
Example
PROC PulseWeld()
! Setup a two Hz timer interrupt
CONNECT intno1 WITH TuneTrp;
ITimer,0.5 ,intno1;
! Weld the seam
ArcLStart p1, v100, seam1, weld5 \Weave:=noweave, fine, gun1;
ArcLEnd p2, v100, seam1, weld5 \Weave:=noweave, fine, gun1;
IDelete intno1;
ENDPROC
TRAP TuneTrp
! Modify the weld_voltage component of active welddata
IF HighValueFlag = TRUE THEN
weld5.main_arc.voltage := 10;
HighValueFlag := FALSE;
ELSE
weld5.main_arc.voltage := 15;
HighValueFlag := TRUE;
ENDIF
! Order the process control to refresh process parameters
ArcRefresh;
ENDTRAP
The weld voltage will be switched between 10 and 15 volts by the trap routine at
a 2 Hz rate.
Arguments
ArcRefresh [\UpdateCalib] [\WeldSpeed] [\WeaveWidth]
[\UpdateCalib]
Data type: switch
This optional switch is used to update calibration data to the optical tracking sensor.
Calibration data is transferred to the optical tracking sensor at controller warmstart
or by using ArcRefresh with this optional switch.
[\WeldSpeed]
Data type: num
This optional parameter is used to update the weld speed in welddata for the
currently executing ArcX instruction. The weld speed is the only data that is updated
with this optional parameter. The weldspeed should be expressed in mm/s.
[\WeaveWidth]
Data type: num
Continues on next page
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7 RAPID reference
7.1.8 ArcRefresh - Refresh arc weld data
RobotWare Arc
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program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the
linear or rotating additional axis.
[\T]
Data type: num
This argument is used to specify the total time in seconds during which the
additional axis moves. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a
fly-by point then the zone size describes the deceleration and acceleration for the
linear or rotational additional axis.
[\InPos]
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the
external axis in the stop point. The stop point data substitutes the zone specified
in the Zone parameter.
[\Start]
Data type: switch
This argument must be used to indicate start to the corresponding ArcLStart
instruction in a MultiMove system (synchronized).
Limitations
ArcMoveExtJ cannot be executed in an UNDO handler or RAPID routine connected
to any of the following special system events: PowerOn, Stop, QStop, Restart,
Reset or Step.
Syntax
ArcMoveExtJ
['\' Conc ',']
[ToJointPos ':='] <expression ( IN ) of jointtarget>
['\' ID ':=' <expression ( IN ) of identno>]','
[Speed ':='] <expression ( IN ) of speeddata>
['\' T ':=' <expression ( IN ) of num>]','
[Zone ':='] <expression ( IN ) of zonedata>
['\' Inpos ':=' <expression ( IN ) of stoppointdata>]','
['\' Start]';'
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.7 ArcMoveExtJ - Move one or several mechanical units without TCP
RobotWare Arc
Continued
7.1.8 ArcRefresh - Refresh arc weld data
Usage
ArcRefresh is used to tune arc welding process parameters during program
execution.
Example
PROC PulseWeld()
! Setup a two Hz timer interrupt
CONNECT intno1 WITH TuneTrp;
ITimer,0.5 ,intno1;
! Weld the seam
ArcLStart p1, v100, seam1, weld5 \Weave:=noweave, fine, gun1;
ArcLEnd p2, v100, seam1, weld5 \Weave:=noweave, fine, gun1;
IDelete intno1;
ENDPROC
TRAP TuneTrp
! Modify the weld_voltage component of active welddata
IF HighValueFlag = TRUE THEN
weld5.main_arc.voltage := 10;
HighValueFlag := FALSE;
ELSE
weld5.main_arc.voltage := 15;
HighValueFlag := TRUE;
ENDIF
! Order the process control to refresh process parameters
ArcRefresh;
ENDTRAP
The weld voltage will be switched between 10 and 15 volts by the trap routine at
a 2 Hz rate.
Arguments
ArcRefresh [\UpdateCalib] [\WeldSpeed] [\WeaveWidth]
[\UpdateCalib]
Data type: switch
This optional switch is used to update calibration data to the optical tracking sensor.
Calibration data is transferred to the optical tracking sensor at controller warmstart
or by using ArcRefresh with this optional switch.
[\WeldSpeed]
Data type: num
This optional parameter is used to update the weld speed in welddata for the
currently executing ArcX instruction. The weld speed is the only data that is updated
with this optional parameter. The weldspeed should be expressed in mm/s.
[\WeaveWidth]
Data type: num
Continues on next page
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.8 ArcRefresh - Refresh arc weld data
RobotWare Arc
This optional parameter is used to update the weavewidth in weavedata for the
currently executing ArcX instruction. The weavewidth is the only data that is
updated with this optional parameter. The weave width should be expressed in
mm.
Limitations
ArcRefresh cannot be executed in an UNDO handler or RAPID routine connected
to any of the following special system events: PowerOn, Stop, QStop, Restart,
Reset or Step.
Syntax
ArcRefresh
['\' UpdateCalib]
['\' WeldSpeed ':=' <variable ( VAR ) of num>]
['\' WeaveWidth ':=' <variable ( VAR ) of num >]';'
Related information
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Performing a circular weld
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Arc and Arc Sensor
159
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.8 ArcRefresh - Refresh arc weld data
RobotWare Arc
Continued
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7.1.8 ArcRefresh - Refresh arc weld data
Usage
ArcRefresh is used to tune arc welding process parameters during program
execution.
Example
PROC PulseWeld()
! Setup a two Hz timer interrupt
CONNECT intno1 WITH TuneTrp;
ITimer,0.5 ,intno1;
! Weld the seam
ArcLStart p1, v100, seam1, weld5 \Weave:=noweave, fine, gun1;
ArcLEnd p2, v100, seam1, weld5 \Weave:=noweave, fine, gun1;
IDelete intno1;
ENDPROC
TRAP TuneTrp
! Modify the weld_voltage component of active welddata
IF HighValueFlag = TRUE THEN
weld5.main_arc.voltage := 10;
HighValueFlag := FALSE;
ELSE
weld5.main_arc.voltage := 15;
HighValueFlag := TRUE;
ENDIF
! Order the process control to refresh process parameters
ArcRefresh;
ENDTRAP
The weld voltage will be switched between 10 and 15 volts by the trap routine at
a 2 Hz rate.
Arguments
ArcRefresh [\UpdateCalib] [\WeldSpeed] [\WeaveWidth]
[\UpdateCalib]
Data type: switch
This optional switch is used to update calibration data to the optical tracking sensor.
Calibration data is transferred to the optical tracking sensor at controller warmstart
or by using ArcRefresh with this optional switch.
[\WeldSpeed]
Data type: num
This optional parameter is used to update the weld speed in welddata for the
currently executing ArcX instruction. The weld speed is the only data that is updated
with this optional parameter. The weldspeed should be expressed in mm/s.
[\WeaveWidth]
Data type: num
Continues on next page
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.8 ArcRefresh - Refresh arc weld data
RobotWare Arc
This optional parameter is used to update the weavewidth in weavedata for the
currently executing ArcX instruction. The weavewidth is the only data that is
updated with this optional parameter. The weave width should be expressed in
mm.
Limitations
ArcRefresh cannot be executed in an UNDO handler or RAPID routine connected
to any of the following special system events: PowerOn, Stop, QStop, Restart,
Reset or Step.
Syntax
ArcRefresh
['\' UpdateCalib]
['\' WeldSpeed ':=' <variable ( VAR ) of num>]
['\' WeaveWidth ':=' <variable ( VAR ) of num >]';'
Related information
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Performing a circular weld
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Arc and Arc Sensor
159
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.8 ArcRefresh - Refresh arc weld data
RobotWare Arc
Continued
7.1.9 RecoveryMenu - Display the recovery menu
Usage
RecoveryMenu is used by custom welding error handlers to display the recovery
menu user interface. The selection made by the user will be stored internally, and
will be referenced by the Weld Error Recovery feature when RobotWare Arc
attempts to re-ignite the arc.
![Image]
en1200000692
Example
RecoveryMenu;
The recovery menu is launched and waits for the user's response before allowing
execution to resume.
Program execution
RecoveryMenu displays a modal dialog that requires user input before the
executing thread will be allowed to continue.
Limitations
Backward step mode is not supported.
Syntax
RecoveryMenu ';'
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
Continues on next page
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.9 RecoveryMenu - Display the recovery menu
RobotWare Arc
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This optional parameter is used to update the weavewidth in weavedata for the
currently executing ArcX instruction. The weavewidth is the only data that is
updated with this optional parameter. The weave width should be expressed in
mm.
Limitations
ArcRefresh cannot be executed in an UNDO handler or RAPID routine connected
to any of the following special system events: PowerOn, Stop, QStop, Restart,
Reset or Step.
Syntax
ArcRefresh
['\' UpdateCalib]
['\' WeldSpeed ':=' <variable ( VAR ) of num>]
['\' WeaveWidth ':=' <variable ( VAR ) of num >]';'
Related information
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Performing a circular weld
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Arc and Arc Sensor
159
3HAC050988-001 Revision: L
© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.8 ArcRefresh - Refresh arc weld data
RobotWare Arc
Continued
7.1.9 RecoveryMenu - Display the recovery menu
Usage
RecoveryMenu is used by custom welding error handlers to display the recovery
menu user interface. The selection made by the user will be stored internally, and
will be referenced by the Weld Error Recovery feature when RobotWare Arc
attempts to re-ignite the arc.
![Image]
en1200000692
Example
RecoveryMenu;
The recovery menu is launched and waits for the user's response before allowing
execution to resume.
Program execution
RecoveryMenu displays a modal dialog that requires user input before the
executing thread will be allowed to continue.
Limitations
Backward step mode is not supported.
Syntax
RecoveryMenu ';'
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
Continues on next page
160
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.9 RecoveryMenu - Display the recovery menu
RobotWare Arc
Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configuring Weld Error Recovery
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.9 RecoveryMenu - Display the recovery menu
RobotWare Arc
Continued
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|
7.1.9 RecoveryMenu - Display the recovery menu
Usage
RecoveryMenu is used by custom welding error handlers to display the recovery
menu user interface. The selection made by the user will be stored internally, and
will be referenced by the Weld Error Recovery feature when RobotWare Arc
attempts to re-ignite the arc.
![Image]
en1200000692
Example
RecoveryMenu;
The recovery menu is launched and waits for the user's response before allowing
execution to resume.
Program execution
RecoveryMenu displays a modal dialog that requires user input before the
executing thread will be allowed to continue.
Limitations
Backward step mode is not supported.
Syntax
RecoveryMenu ';'
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
Continues on next page
160
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.9 RecoveryMenu - Display the recovery menu
RobotWare Arc
Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configuring Weld Error Recovery
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161
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.9 RecoveryMenu - Display the recovery menu
RobotWare Arc
Continued
7.1.10 RecoveryMenuWR - Display the recovery menu
Usage
RecoveryMenuWR is used by custom welding error handlers to display the Weld
Repair recovery menu. The selection made by the user will be stored internally,
and will be referenced by Weld Error Recovery when RobotWare Arc attempts to
re-ignite the arc.
![Image]
en1300000301
Basic examples
The following example illustrates the instruction RecoveryMenuWR .
Example 1
RecoveryMenuWR;
The recovery menu is displayed and the system waits for response from the user
before allowing execution to resume.
Program execution
The recovery menu displays a modal dialog that requires user input before the
execution will be allowed to continue.
Limitations
Backward step mode is not supported.
Syntax
RecoveryMenuWR ';'
Continues on next page
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7 RAPID reference
7.1.10 RecoveryMenuWR - Display the recovery menu
RobotWare Arc
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Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configuring Weld Error Recovery
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.9 RecoveryMenu - Display the recovery menu
RobotWare Arc
Continued
7.1.10 RecoveryMenuWR - Display the recovery menu
Usage
RecoveryMenuWR is used by custom welding error handlers to display the Weld
Repair recovery menu. The selection made by the user will be stored internally,
and will be referenced by Weld Error Recovery when RobotWare Arc attempts to
re-ignite the arc.
![Image]
en1300000301
Basic examples
The following example illustrates the instruction RecoveryMenuWR .
Example 1
RecoveryMenuWR;
The recovery menu is displayed and the system waits for response from the user
before allowing execution to resume.
Program execution
The recovery menu displays a modal dialog that requires user input before the
execution will be allowed to continue.
Limitations
Backward step mode is not supported.
Syntax
RecoveryMenuWR ';'
Continues on next page
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7 RAPID reference
7.1.10 RecoveryMenuWR - Display the recovery menu
RobotWare Arc
Related information
See
For information about
RecoveryMenu - Display the recovery menu on
page 160
The instruction RecoveryMenu
Application manual - Arc and Arc Sensor
163
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.10 RecoveryMenuWR - Display the recovery menu
RobotWare Arc
Continued
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|
7.1.10 RecoveryMenuWR - Display the recovery menu
Usage
RecoveryMenuWR is used by custom welding error handlers to display the Weld
Repair recovery menu. The selection made by the user will be stored internally,
and will be referenced by Weld Error Recovery when RobotWare Arc attempts to
re-ignite the arc.
![Image]
en1300000301
Basic examples
The following example illustrates the instruction RecoveryMenuWR .
Example 1
RecoveryMenuWR;
The recovery menu is displayed and the system waits for response from the user
before allowing execution to resume.
Program execution
The recovery menu displays a modal dialog that requires user input before the
execution will be allowed to continue.
Limitations
Backward step mode is not supported.
Syntax
RecoveryMenuWR ';'
Continues on next page
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7 RAPID reference
7.1.10 RecoveryMenuWR - Display the recovery menu
RobotWare Arc
Related information
See
For information about
RecoveryMenu - Display the recovery menu on
page 160
The instruction RecoveryMenu
Application manual - Arc and Arc Sensor
163
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.10 RecoveryMenuWR - Display the recovery menu
RobotWare Arc
Continued
7.1.11 RecoveryPosSet - Set the recovery position
Usage
RecoveryPosSet sets the recovery position, starts recording the robot path and
enables the Escape function in the Error Menu. The internal path recorder will store
path information during execution of the RAPID program. If an error occurs during
the weld seam, the Error Menu will display an Escape option.
![Image]
en1200000693
Pressing Escape causes the robot to retrace its path to the recovery position set
by the RecoveryPosSet instruction. An optional service routine can be executed
after the recovery position has been reached.
Example
RecoveryPosSet\ServRoutine:="ServiceRoutine";
The path recorder is started and the recovery point (the instruction’s position in
the RAPID program) is set. After backing up to the recovery position, the service
routine ServiceRoutine is executed.
Limitations
There is a limitations to the use of RecoveryPosSet . The Pathrecorder can not
be turned on with RecoveryPosSet before a WaitSyncTask instruction, that is
the robot can never escape past a WaitSyncTask instruction. Therefore, make
sure that RecoveryPosSet is always used after the WaitSyncTask instruction
in the RAPID program.
Arguments
RecoveryPosSet [\ServRoutine]
ServRoutine
Data type: string
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
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|
Related information
See
For information about
RecoveryMenu - Display the recovery menu on
page 160
The instruction RecoveryMenu
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163
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.10 RecoveryMenuWR - Display the recovery menu
RobotWare Arc
Continued
7.1.11 RecoveryPosSet - Set the recovery position
Usage
RecoveryPosSet sets the recovery position, starts recording the robot path and
enables the Escape function in the Error Menu. The internal path recorder will store
path information during execution of the RAPID program. If an error occurs during
the weld seam, the Error Menu will display an Escape option.
![Image]
en1200000693
Pressing Escape causes the robot to retrace its path to the recovery position set
by the RecoveryPosSet instruction. An optional service routine can be executed
after the recovery position has been reached.
Example
RecoveryPosSet\ServRoutine:="ServiceRoutine";
The path recorder is started and the recovery point (the instruction’s position in
the RAPID program) is set. After backing up to the recovery position, the service
routine ServiceRoutine is executed.
Limitations
There is a limitations to the use of RecoveryPosSet . The Pathrecorder can not
be turned on with RecoveryPosSet before a WaitSyncTask instruction, that is
the robot can never escape past a WaitSyncTask instruction. Therefore, make
sure that RecoveryPosSet is always used after the WaitSyncTask instruction
in the RAPID program.
Arguments
RecoveryPosSet [\ServRoutine]
ServRoutine
Data type: string
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Using the ServRoutine argument 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.
Program execution
When the path recorder is ordered to start, the robot path will be recorded internally
in the robot controller. At welding error the recorded sequence of program positions
can be traversed backwards by selecting the Escape option from the Error Menu,
causing the robot to move backwards along its executed path to the recovery
position.
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.
Example
PROC MyWeld()
MoveJ pSafe,vmax,z10,tWeldGun;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
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
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
ENDPROC
Syntax
RecoveryPosSet
['\' ServRoutine ':=' <expression ( IN ) of string>]';'
Related information
Described in
Information
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Continues on next page
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
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7.1.11 RecoveryPosSet - Set the recovery position
Usage
RecoveryPosSet sets the recovery position, starts recording the robot path and
enables the Escape function in the Error Menu. The internal path recorder will store
path information during execution of the RAPID program. If an error occurs during
the weld seam, the Error Menu will display an Escape option.
![Image]
en1200000693
Pressing Escape causes the robot to retrace its path to the recovery position set
by the RecoveryPosSet instruction. An optional service routine can be executed
after the recovery position has been reached.
Example
RecoveryPosSet\ServRoutine:="ServiceRoutine";
The path recorder is started and the recovery point (the instruction’s position in
the RAPID program) is set. After backing up to the recovery position, the service
routine ServiceRoutine is executed.
Limitations
There is a limitations to the use of RecoveryPosSet . The Pathrecorder can not
be turned on with RecoveryPosSet before a WaitSyncTask instruction, that is
the robot can never escape past a WaitSyncTask instruction. Therefore, make
sure that RecoveryPosSet is always used after the WaitSyncTask instruction
in the RAPID program.
Arguments
RecoveryPosSet [\ServRoutine]
ServRoutine
Data type: string
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Using the ServRoutine argument 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.
Program execution
When the path recorder is ordered to start, the robot path will be recorded internally
in the robot controller. At welding error the recorded sequence of program positions
can be traversed backwards by selecting the Escape option from the Error Menu,
causing the robot to move backwards along its executed path to the recovery
position.
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.
Example
PROC MyWeld()
MoveJ pSafe,vmax,z10,tWeldGun;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
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
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
ENDPROC
Syntax
RecoveryPosSet
['\' ServRoutine ':=' <expression ( IN ) of string>]';'
Related information
Described in
Information
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Continues on next page
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Continued
Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configure weld error recovery
166
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Continued
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Using the ServRoutine argument 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.
Program execution
When the path recorder is ordered to start, the robot path will be recorded internally
in the robot controller. At welding error the recorded sequence of program positions
can be traversed backwards by selecting the Escape option from the Error Menu,
causing the robot to move backwards along its executed path to the recovery
position.
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.
Example
PROC MyWeld()
MoveJ pSafe,vmax,z10,tWeldGun;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
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
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
ENDPROC
Syntax
RecoveryPosSet
['\' ServRoutine ':=' <expression ( IN ) of string>]';'
Related information
Described in
Information
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Continues on next page
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Continued
Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configure weld error recovery
166
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Continued
7.1.12 RecoveryPosReset - Reset the recovery position
Usage
RecoveryPosReset resets the recovery position, stops recording the robot path
and the service routine is cleared.
Example
RecoveryPosReset;
The path recorder is stopped and the recovery position is reset. If a service routine
was active it is cleared.
Program execution
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.
Example
PROC MyWeld()
MoveJ pSafe,vmax,z10,tWeldGun;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
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
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
ENDPROC
Syntax
RecoveryPosReset ';'
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Continues on next page
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7 RAPID reference
7.1.12 RecoveryPosReset - Reset the recovery position
RobotWare Arc
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Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configure weld error recovery
166
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7 RAPID reference
7.1.11 RecoveryPosSet - Set the recovery position
RobotWare Arc
Continued
7.1.12 RecoveryPosReset - Reset the recovery position
Usage
RecoveryPosReset resets the recovery position, stops recording the robot path
and the service routine is cleared.
Example
RecoveryPosReset;
The path recorder is stopped and the recovery position is reset. If a service routine
was active it is cleared.
Program execution
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.
Example
PROC MyWeld()
MoveJ pSafe,vmax,z10,tWeldGun;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
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
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
ENDPROC
Syntax
RecoveryPosReset ';'
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Continues on next page
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7 RAPID reference
7.1.12 RecoveryPosReset - Reset the recovery position
RobotWare Arc
Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configure weld error recovery
168
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7 RAPID reference
7.1.12 RecoveryPosReset - Reset the recovery position
RobotWare Arc
Continued
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7.1.12 RecoveryPosReset - Reset the recovery position
Usage
RecoveryPosReset resets the recovery position, stops recording the robot path
and the service routine is cleared.
Example
RecoveryPosReset;
The path recorder is stopped and the recovery position is reset. If a service routine
was active it is cleared.
Program execution
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.
Example
PROC MyWeld()
MoveJ pSafe,vmax,z10,tWeldGun;
RecoveryPosSet\ServRoutine:="ServiceRoutine";
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
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
ENDPROC
Syntax
RecoveryPosReset ';'
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Continues on next page
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167
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7 RAPID reference
7.1.12 RecoveryPosReset - Reset the recovery position
RobotWare Arc
Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configure weld error recovery
168
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7 RAPID reference
7.1.12 RecoveryPosReset - Reset the recovery position
RobotWare Arc
Continued
7.1.13 SetWRProcName - Set name of process to re-execute
Usage
SetWRProcName is used to inform RobotWare Arc which welding procedure needs
to be re-executed by the weld repair function. The optional switch
\Flexpositioner should be used in a FlexPositioner setup in the non-welding
robot to inform WeldRepair that the task is not welding.
Basic examples
The following example illustrates the instruction SetWRProcName .
Example 1
SetWRProcName "Weldseam_1";
The RAPID procedure Weldseam_1 is re-executed if the weld repair function is
active.
Arguments
SetWRProcName st1 [\FlexPositioner]
st1
Data type: string
The name of the welding procedure that should be re-executed.
[\FlexPositioner]
Data type: switch
The robot/task is considered to be a non-welding robot if this argument is present.
Should be used in a FlexPositioner setup.
Syntax
SetWRProcName
[st1 <expression (IN) of string>]
['\' FlexPositioner ] ';'
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7.1.13 SetWRProcName - Set name of process to re-execute
RobotWare Arc
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Described in
Information
Configure the recovery menu on page 57
Configure the recovery menu
Configuring Weld Error Recovery on page55
Configure weld error recovery
168
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7 RAPID reference
7.1.12 RecoveryPosReset - Reset the recovery position
RobotWare Arc
Continued
7.1.13 SetWRProcName - Set name of process to re-execute
Usage
SetWRProcName is used to inform RobotWare Arc which welding procedure needs
to be re-executed by the weld repair function. The optional switch
\Flexpositioner should be used in a FlexPositioner setup in the non-welding
robot to inform WeldRepair that the task is not welding.
Basic examples
The following example illustrates the instruction SetWRProcName .
Example 1
SetWRProcName "Weldseam_1";
The RAPID procedure Weldseam_1 is re-executed if the weld repair function is
active.
Arguments
SetWRProcName st1 [\FlexPositioner]
st1
Data type: string
The name of the welding procedure that should be re-executed.
[\FlexPositioner]
Data type: switch
The robot/task is considered to be a non-welding robot if this argument is present.
Should be used in a FlexPositioner setup.
Syntax
SetWRProcName
[st1 <expression (IN) of string>]
['\' FlexPositioner ] ';'
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7 RAPID reference
7.1.13 SetWRProcName - Set name of process to re-execute
RobotWare Arc
7.2 Data types
7.2.1 advSeamData - Advanced seam data
Usage
advSeamData is used to configure the restart behavior Seam local . Normally the
restart behavior such as number of retries, restart distance, skip forward distance,
and scrape start behavior is defined globally in the system parameters (PROC.cfg).
These settings are used on all welds in the system. With advSeamData the behavior
can be defined for each seam.
Note
AdvSeamData can only be used if the system is configured in Semi Automatic
Mode 2 .
Basic examples
The following example illustrates the data type advSeamData .
Example 1
PROC Weld_1()
SetWRProcName "Weld_1";
SyncMoveOn sync001, allTasks;
MoveL p10\ID:=10, vmax, z10, tWeldGun;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart p20\ID:=20, v100, sm1\AdvData:=adv1, wd1, fine,
tWeldGun;
ArcL p30\ID:=30, v100, sm1, wd1, z10, tWeldGun;
ArcLEnd p40\ID:=40, v100, sm1, wd1, fine, tWeldGun;
RecoveryPosReset;
MoveJ p50\ID:=50, vmax, z10, tWeldGun;
SyncMoveOff sync_testblech_2;
ENDPROC
Component group: ErrorFunc
RetractWire
Data type: bool
Specifies if the welding wire should be retracted after the configured number of
retries is exceeded.
Default value: FALSE
RetractTime
Data type: num
Time in seconds for wire retract.
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7 RAPID reference
7.2.1 advSeamData - Advanced seam data
RobotWare Arc
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7.1.13 SetWRProcName - Set name of process to re-execute
Usage
SetWRProcName is used to inform RobotWare Arc which welding procedure needs
to be re-executed by the weld repair function. The optional switch
\Flexpositioner should be used in a FlexPositioner setup in the non-welding
robot to inform WeldRepair that the task is not welding.
Basic examples
The following example illustrates the instruction SetWRProcName .
Example 1
SetWRProcName "Weldseam_1";
The RAPID procedure Weldseam_1 is re-executed if the weld repair function is
active.
Arguments
SetWRProcName st1 [\FlexPositioner]
st1
Data type: string
The name of the welding procedure that should be re-executed.
[\FlexPositioner]
Data type: switch
The robot/task is considered to be a non-welding robot if this argument is present.
Should be used in a FlexPositioner setup.
Syntax
SetWRProcName
[st1 <expression (IN) of string>]
['\' FlexPositioner ] ';'
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7 RAPID reference
7.1.13 SetWRProcName - Set name of process to re-execute
RobotWare Arc
7.2 Data types
7.2.1 advSeamData - Advanced seam data
Usage
advSeamData is used to configure the restart behavior Seam local . Normally the
restart behavior such as number of retries, restart distance, skip forward distance,
and scrape start behavior is defined globally in the system parameters (PROC.cfg).
These settings are used on all welds in the system. With advSeamData the behavior
can be defined for each seam.
Note
AdvSeamData can only be used if the system is configured in Semi Automatic
Mode 2 .
Basic examples
The following example illustrates the data type advSeamData .
Example 1
PROC Weld_1()
SetWRProcName "Weld_1";
SyncMoveOn sync001, allTasks;
MoveL p10\ID:=10, vmax, z10, tWeldGun;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart p20\ID:=20, v100, sm1\AdvData:=adv1, wd1, fine,
tWeldGun;
ArcL p30\ID:=30, v100, sm1, wd1, z10, tWeldGun;
ArcLEnd p40\ID:=40, v100, sm1, wd1, fine, tWeldGun;
RecoveryPosReset;
MoveJ p50\ID:=50, vmax, z10, tWeldGun;
SyncMoveOff sync_testblech_2;
ENDPROC
Component group: ErrorFunc
RetractWire
Data type: bool
Specifies if the welding wire should be retracted after the configured number of
retries is exceeded.
Default value: FALSE
RetractTime
Data type: num
Time in seconds for wire retract.
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7 RAPID reference
7.2.1 advSeamData - Advanced seam data
RobotWare Arc
Default value: FALSE
The maximum allowed value is 2.25
NuOfRetries
Data type: num
The number of automatic restart attempts per seam at welding interrupts.
Default value: 0
NuOfWeldErrors
Data type: num
Numbers of allowed weld errors per seam.
Default value: 0
SkipForwardDist
Data type: num
The distance in mm that the robot moves forward on the current seam relative to
the position where it was interrupted.
Default value: 0
The maximum allowed value is 50
RestartDist
Data type: num
The distance that the robot reverses on the current seam relative to the position
where it was interrupted.
Default value: 0
Component group: ScrapeFunc
ScrapeStart
Data type: bool
Specifies if the robot is to weave at the actual weld start (scrape start). This weaving
is automatically interrupted when the arc is ignited.
Default value: FALSE
ScrapeDir
Data type: num
The angle of direction of the weave for a scrape start. It is specified in degrees,
where 0 implies a weave that is carried out at a 90 degrees angle to the direction
of the weld.
Default value: 0
ScrapeTime
Data type: num
The time (in seconds) it takes for a complete weave cycle for a scrape start.
Default value: 0.2
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7.2.1 advSeamData - Advanced seam data
RobotWare Arc
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7.2 Data types
7.2.1 advSeamData - Advanced seam data
Usage
advSeamData is used to configure the restart behavior Seam local . Normally the
restart behavior such as number of retries, restart distance, skip forward distance,
and scrape start behavior is defined globally in the system parameters (PROC.cfg).
These settings are used on all welds in the system. With advSeamData the behavior
can be defined for each seam.
Note
AdvSeamData can only be used if the system is configured in Semi Automatic
Mode 2 .
Basic examples
The following example illustrates the data type advSeamData .
Example 1
PROC Weld_1()
SetWRProcName "Weld_1";
SyncMoveOn sync001, allTasks;
MoveL p10\ID:=10, vmax, z10, tWeldGun;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart p20\ID:=20, v100, sm1\AdvData:=adv1, wd1, fine,
tWeldGun;
ArcL p30\ID:=30, v100, sm1, wd1, z10, tWeldGun;
ArcLEnd p40\ID:=40, v100, sm1, wd1, fine, tWeldGun;
RecoveryPosReset;
MoveJ p50\ID:=50, vmax, z10, tWeldGun;
SyncMoveOff sync_testblech_2;
ENDPROC
Component group: ErrorFunc
RetractWire
Data type: bool
Specifies if the welding wire should be retracted after the configured number of
retries is exceeded.
Default value: FALSE
RetractTime
Data type: num
Time in seconds for wire retract.
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7.2.1 advSeamData - Advanced seam data
RobotWare Arc
Default value: FALSE
The maximum allowed value is 2.25
NuOfRetries
Data type: num
The number of automatic restart attempts per seam at welding interrupts.
Default value: 0
NuOfWeldErrors
Data type: num
Numbers of allowed weld errors per seam.
Default value: 0
SkipForwardDist
Data type: num
The distance in mm that the robot moves forward on the current seam relative to
the position where it was interrupted.
Default value: 0
The maximum allowed value is 50
RestartDist
Data type: num
The distance that the robot reverses on the current seam relative to the position
where it was interrupted.
Default value: 0
Component group: ScrapeFunc
ScrapeStart
Data type: bool
Specifies if the robot is to weave at the actual weld start (scrape start). This weaving
is automatically interrupted when the arc is ignited.
Default value: FALSE
ScrapeDir
Data type: num
The angle of direction of the weave for a scrape start. It is specified in degrees,
where 0 implies a weave that is carried out at a 90 degrees angle to the direction
of the weld.
Default value: 0
ScrapeTime
Data type: num
The time (in seconds) it takes for a complete weave cycle for a scrape start.
Default value: 0.2
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7.2.1 advSeamData - Advanced seam data
RobotWare Arc
Continued
ScrapeWidth
Data type: num
The width of the weave pattern for a scrape start.
Default value: 0
Limitations
AdvSeamData can only be used if the system is configured in Semi Automatic
Mode .
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7.2.1 advSeamData - Advanced seam data
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Default value: FALSE
The maximum allowed value is 2.25
NuOfRetries
Data type: num
The number of automatic restart attempts per seam at welding interrupts.
Default value: 0
NuOfWeldErrors
Data type: num
Numbers of allowed weld errors per seam.
Default value: 0
SkipForwardDist
Data type: num
The distance in mm that the robot moves forward on the current seam relative to
the position where it was interrupted.
Default value: 0
The maximum allowed value is 50
RestartDist
Data type: num
The distance that the robot reverses on the current seam relative to the position
where it was interrupted.
Default value: 0
Component group: ScrapeFunc
ScrapeStart
Data type: bool
Specifies if the robot is to weave at the actual weld start (scrape start). This weaving
is automatically interrupted when the arc is ignited.
Default value: FALSE
ScrapeDir
Data type: num
The angle of direction of the weave for a scrape start. It is specified in degrees,
where 0 implies a weave that is carried out at a 90 degrees angle to the direction
of the weld.
Default value: 0
ScrapeTime
Data type: num
The time (in seconds) it takes for a complete weave cycle for a scrape start.
Default value: 0.2
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7.2.1 advSeamData - Advanced seam data
RobotWare Arc
Continued
ScrapeWidth
Data type: num
The width of the weave pattern for a scrape start.
Default value: 0
Limitations
AdvSeamData can only be used if the system is configured in Semi Automatic
Mode .
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7.2.1 advSeamData - Advanced seam data
RobotWare Arc
Continued
7.2.2 arcdata - Arc data
Usage and description
arcdata is a data structure which is a subdata component of seamdata and
welddata . It contains components that are commonly used in both data types.
Components
sched (schedule)
Data type: num
The identity (expressed as a number) of weld programs to send to the welding
equipment. This parameter is only available if schedule port type (see System
parameters on page 201 ) is defined as 1 (Binary), or 2 (Pulse), or 3 (CAN).
mode
Data type: num
The identity (expressed as a number) of weld mode to send to the welding
equipment.
This parameter is only available if schedule port type (see System parameters on
page 201 ) is defined as 2 (Pulse) or 3 (CAN).
voltage
Data type: num
The welding voltage (in Volt) during the weld phase.
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if weld voltage ( System parameters on page 201 ) is
defined.
wirefeed
Data type: num
This parameter is only available, if wirefeed ( System parameters on page 201 ) is
defined. The feed speed of the weld electrode during the weld phase. The unit for
arcdata components that specify a velocity, is defined by the parameter Units ,
see The type Arc Robot Properties on page 208 .
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 .
control
Data type: num
Analog tuning value sent to certain welders.
current
Data type: num
The welding current (in Ampere) during the weld phase.
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7.2.2 arcdata - Arc data
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ScrapeWidth
Data type: num
The width of the weave pattern for a scrape start.
Default value: 0
Limitations
AdvSeamData can only be used if the system is configured in Semi Automatic
Mode .
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7.2.1 advSeamData - Advanced seam data
RobotWare Arc
Continued
7.2.2 arcdata - Arc data
Usage and description
arcdata is a data structure which is a subdata component of seamdata and
welddata . It contains components that are commonly used in both data types.
Components
sched (schedule)
Data type: num
The identity (expressed as a number) of weld programs to send to the welding
equipment. This parameter is only available if schedule port type (see System
parameters on page 201 ) is defined as 1 (Binary), or 2 (Pulse), or 3 (CAN).
mode
Data type: num
The identity (expressed as a number) of weld mode to send to the welding
equipment.
This parameter is only available if schedule port type (see System parameters on
page 201 ) is defined as 2 (Pulse) or 3 (CAN).
voltage
Data type: num
The welding voltage (in Volt) during the weld phase.
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if weld voltage ( System parameters on page 201 ) is
defined.
wirefeed
Data type: num
This parameter is only available, if wirefeed ( System parameters on page 201 ) is
defined. The feed speed of the weld electrode during the weld phase. The unit for
arcdata components that specify a velocity, is defined by the parameter Units ,
see The type Arc Robot Properties on page 208 .
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 .
control
Data type: num
Analog tuning value sent to certain welders.
current
Data type: num
The welding current (in Ampere) during the weld phase.
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7.2.2 arcdata - Arc data
RobotWare Arc
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if current ( System parameters on page 201 ) is defined.
voltage2
Data type: num
The welding voltage (in Volt) during the weld phase. Used in a TwinWire setup.
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if weld voltage ( System parameters on page 201 ) is
defined.
control2
Data type: num
Analog tuning value sent to certain welders. Used in a TwinWire setup.
Structure
<data object of arcdata>
<sched of num>
<mode of num>
<voltage of num>
<wirefeed of num>
<control of num>
<current of num>
<voltage2 of num>
<wirefeed2 of num>
<control2 of num>
<track_reference of num>
Related information
Described in
Information
seamdata - Seam data on page 176
Seam data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instructions
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instructions
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7.2.2 arcdata - Arc data
RobotWare Arc
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7.2.2 arcdata - Arc data
Usage and description
arcdata is a data structure which is a subdata component of seamdata and
welddata . It contains components that are commonly used in both data types.
Components
sched (schedule)
Data type: num
The identity (expressed as a number) of weld programs to send to the welding
equipment. This parameter is only available if schedule port type (see System
parameters on page 201 ) is defined as 1 (Binary), or 2 (Pulse), or 3 (CAN).
mode
Data type: num
The identity (expressed as a number) of weld mode to send to the welding
equipment.
This parameter is only available if schedule port type (see System parameters on
page 201 ) is defined as 2 (Pulse) or 3 (CAN).
voltage
Data type: num
The welding voltage (in Volt) during the weld phase.
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if weld voltage ( System parameters on page 201 ) is
defined.
wirefeed
Data type: num
This parameter is only available, if wirefeed ( System parameters on page 201 ) is
defined. The feed speed of the weld electrode during the weld phase. The unit for
arcdata components that specify a velocity, is defined by the parameter Units ,
see The type Arc Robot Properties on page 208 .
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 .
control
Data type: num
Analog tuning value sent to certain welders.
current
Data type: num
The welding current (in Ampere) during the weld phase.
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7.2.2 arcdata - Arc data
RobotWare Arc
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if current ( System parameters on page 201 ) is defined.
voltage2
Data type: num
The welding voltage (in Volt) during the weld phase. Used in a TwinWire setup.
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if weld voltage ( System parameters on page 201 ) is
defined.
control2
Data type: num
Analog tuning value sent to certain welders. Used in a TwinWire setup.
Structure
<data object of arcdata>
<sched of num>
<mode of num>
<voltage of num>
<wirefeed of num>
<control of num>
<current of num>
<voltage2 of num>
<wirefeed2 of num>
<control2 of num>
<track_reference of num>
Related information
Described in
Information
seamdata - Seam data on page 176
Seam data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instructions
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instructions
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7.2.2 arcdata - Arc data
RobotWare Arc
Continued
7.2.3 flystartdata - Flying start data
Usage and description
flystartdata is used to setup the needed parameters for a weld with a flying
start.
Components
active
Data type: bool
When active is TRUE , the ignition of the weld is done with a moving TCP (flying
start).
When active is FALSE , the ignition is done with a non moving TCP and the zone
is executed as a fine point. This makes it easy to test flying start without having to
change the zone parameter.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start
superv_distance
Data type: num
superv_distance sets the distance from the zone center to where an ignition
must occur. If no ignition has occurred when the robot reaches this distance, the
system stops and enter its error handler. The required action is then based on the
setup of the error handler.
Structure
<data object of flystartdata>
<active of bool>
<superv_distance of num>
Related information
Described in
Information
ArcCStart, ArcC1Start, ArcC2Start - Arc
welding start with circular motion on page120
Arc welding start with circular motion
ArcLStart, ArcL1Start, ArcL2Start - Arc weld-
ing start with linear motion on page 147
Arc welding start with linear motion
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7.2.3 flystartdata - Flying start data
RobotWare Arc
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The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if current ( System parameters on page 201 ) is defined.
voltage2
Data type: num
The welding voltage (in Volt) during the weld phase. Used in a TwinWire setup.
The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in Defining arc welding systems on page 202 . This
parameter is only available if weld voltage ( System parameters on page 201 ) is
defined.
control2
Data type: num
Analog tuning value sent to certain welders. Used in a TwinWire setup.
Structure
<data object of arcdata>
<sched of num>
<mode of num>
<voltage of num>
<wirefeed of num>
<control of num>
<current of num>
<voltage2 of num>
<wirefeed2 of num>
<control2 of num>
<track_reference of num>
Related information
Described in
Information
seamdata - Seam data on page 176
Seam data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instructions
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instructions
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7.2.2 arcdata - Arc data
RobotWare Arc
Continued
7.2.3 flystartdata - Flying start data
Usage and description
flystartdata is used to setup the needed parameters for a weld with a flying
start.
Components
active
Data type: bool
When active is TRUE , the ignition of the weld is done with a moving TCP (flying
start).
When active is FALSE , the ignition is done with a non moving TCP and the zone
is executed as a fine point. This makes it easy to test flying start without having to
change the zone parameter.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start
superv_distance
Data type: num
superv_distance sets the distance from the zone center to where an ignition
must occur. If no ignition has occurred when the robot reaches this distance, the
system stops and enter its error handler. The required action is then based on the
setup of the error handler.
Structure
<data object of flystartdata>
<active of bool>
<superv_distance of num>
Related information
Described in
Information
ArcCStart, ArcC1Start, ArcC2Start - Arc
welding start with circular motion on page120
Arc welding start with circular motion
ArcLStart, ArcL1Start, ArcL2Start - Arc weld-
ing start with linear motion on page 147
Arc welding start with linear motion
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7.2.3 flystartdata - Flying start data
RobotWare Arc
7.2.4 seamdata - Seam data
Usage and description
seamdata is used to control the start and end of the weld. seamdata is also used
if the process is restarted after a welding operation has been interrupted.
The actual weld phase is controlled using welddata , see welddata - Weld data on
page 195 .
seamdata describes data, which, as a rule, can be maintained unaltered during a
whole seam and often also during welding several seams. seamdata is used during
the start phase of a welding operation (ignition, heating after ignition) and during
the final phase of the weld. seamdata is included in all arc welding instructions to
facilitate controlled start and end phases independent of where interrupts or restarts
might occur.
All voltages can be expressed in two ways (determined by the welding equipment):
•
As absolute values (only positive values are used in this case).
•
As corrections of values set in the process equipment (both positive and
negative values can be used in this case).
Feeding the weld electrode in this section refers to MIG/MAG welding. For TIG
welding the following applies:
•
A cold wire is supplied to the wire feed.
•
The necessary welding current reference value can be connected to any of
the three analog outputs that are not used. The Welding voltage reference
is not used.
Continues on next page
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7.2.4 seamdata - Seam data
RobotWare Arc
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7.2.3 flystartdata - Flying start data
Usage and description
flystartdata is used to setup the needed parameters for a weld with a flying
start.
Components
active
Data type: bool
When active is TRUE , the ignition of the weld is done with a moving TCP (flying
start).
When active is FALSE , the ignition is done with a non moving TCP and the zone
is executed as a fine point. This makes it easy to test flying start without having to
change the zone parameter.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start
superv_distance
Data type: num
superv_distance sets the distance from the zone center to where an ignition
must occur. If no ignition has occurred when the robot reaches this distance, the
system stops and enter its error handler. The required action is then based on the
setup of the error handler.
Structure
<data object of flystartdata>
<active of bool>
<superv_distance of num>
Related information
Described in
Information
ArcCStart, ArcC1Start, ArcC2Start - Arc
welding start with circular motion on page120
Arc welding start with circular motion
ArcLStart, ArcL1Start, ArcL2Start - Arc weld-
ing start with linear motion on page 147
Arc welding start with linear motion
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7.2.3 flystartdata - Flying start data
RobotWare Arc
7.2.4 seamdata - Seam data
Usage and description
seamdata is used to control the start and end of the weld. seamdata is also used
if the process is restarted after a welding operation has been interrupted.
The actual weld phase is controlled using welddata , see welddata - Weld data on
page 195 .
seamdata describes data, which, as a rule, can be maintained unaltered during a
whole seam and often also during welding several seams. seamdata is used during
the start phase of a welding operation (ignition, heating after ignition) and during
the final phase of the weld. seamdata is included in all arc welding instructions to
facilitate controlled start and end phases independent of where interrupts or restarts
might occur.
All voltages can be expressed in two ways (determined by the welding equipment):
•
As absolute values (only positive values are used in this case).
•
As corrections of values set in the process equipment (both positive and
negative values can be used in this case).
Feeding the weld electrode in this section refers to MIG/MAG welding. For TIG
welding the following applies:
•
A cold wire is supplied to the wire feed.
•
The necessary welding current reference value can be connected to any of
the three analog outputs that are not used. The Welding voltage reference
is not used.
Continues on next page
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7.2.4 seamdata - Seam data
RobotWare Arc
Welding sequence
gas
sched-no
power on
wirefeed on
4 x anal. ref.
arc_OK (di SR)
robot move
ignition
weld
heat
end
ignition timeout
signal supervision
forward
next pos.
to pos.
t
t
t
t
t
t
t
T 1
T 2
T 5
T 3
D/T 4
scrape
T 5
T 6
T 7
T 8
D
C
B
A
xx1200000713
maximum gas_purge / arc_preset time
T 1
gas_preflow time
T 2
ignition_movement_delay time
T 3
heating distance/time
D/T 4
burnback time
T 5
maximum cooling/ arc_preset time
T 6
filling time
T 7
maximum cooling/ gas_postflow time
T 8
ign_sched
A
heat_sched
B
weld_sched
C
fill_sched
D
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7.2.4 seamdata - Seam data
RobotWare Arc
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7.2.4 seamdata - Seam data
Usage and description
seamdata is used to control the start and end of the weld. seamdata is also used
if the process is restarted after a welding operation has been interrupted.
The actual weld phase is controlled using welddata , see welddata - Weld data on
page 195 .
seamdata describes data, which, as a rule, can be maintained unaltered during a
whole seam and often also during welding several seams. seamdata is used during
the start phase of a welding operation (ignition, heating after ignition) and during
the final phase of the weld. seamdata is included in all arc welding instructions to
facilitate controlled start and end phases independent of where interrupts or restarts
might occur.
All voltages can be expressed in two ways (determined by the welding equipment):
•
As absolute values (only positive values are used in this case).
•
As corrections of values set in the process equipment (both positive and
negative values can be used in this case).
Feeding the weld electrode in this section refers to MIG/MAG welding. For TIG
welding the following applies:
•
A cold wire is supplied to the wire feed.
•
The necessary welding current reference value can be connected to any of
the three analog outputs that are not used. The Welding voltage reference
is not used.
Continues on next page
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7.2.4 seamdata - Seam data
RobotWare Arc
Welding sequence
gas
sched-no
power on
wirefeed on
4 x anal. ref.
arc_OK (di SR)
robot move
ignition
weld
heat
end
ignition timeout
signal supervision
forward
next pos.
to pos.
t
t
t
t
t
t
t
T 1
T 2
T 5
T 3
D/T 4
scrape
T 5
T 6
T 7
T 8
D
C
B
A
xx1200000713
maximum gas_purge / arc_preset time
T 1
gas_preflow time
T 2
ignition_movement_delay time
T 3
heating distance/time
D/T 4
burnback time
T 5
maximum cooling/ arc_preset time
T 6
filling time
T 7
maximum cooling/ gas_postflow time
T 8
ign_sched
A
heat_sched
B
weld_sched
C
fill_sched
D
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
Component group: Ignition
purge_time
Data type: num
The time (in seconds) it takes to fill gas lines and the welding gun with protective
gas, so called "gas purging". The first weld instruction is an ArcLStart or
ArcLCStart , the gas flow is activated at the specified gas purge time before the
programmed position is reached.
If the positioning time to the start position of the weld is shorter than the gas purge
time, or if the ArcLStart or ArcCStart instruction is not used, the robot waits in
the weld start position until the gas purge time has expired.
preflow_time
Data type: num
The time (in seconds) it takes to preflow the weld object with protective gas, so
called "gas preflowing".
The robot is stationary in position during this time before the arc is ignited.
If a schedule based welder is used, the ignition schedule is sent to the welder at
the same time as the arc is ignited. This is in most cases too late for the welder.
Setting the preflow_time to for example 0.2 seconds, will give the welder some
time to react on the schedule sent to it.
ign_arc
Data type: arcdata
Weld parameters during the ignition phase. See definition of arcdata , arcdata -
Arc data on page 173 .
ign_move_delay (ignition movement delay)
Data type: num
The delay (in seconds) from the time the arc is considered stable at ignition until
the heating phase is started. The ignition references remain valid during the ignition
movement delay.
scrape_start (scrape start type)
Data type: num
Type of scrape at weld start. Scrape type at restart will not be affected. It will always
be weaving scrape .
Scrape types:
•
0 - No scrape. No scrape will occur at weld start.
•
1 - Weaving scrape.
Component group: Heat
heat_speed
Data type: num
The welding speed during heating at the start of the weld phase.
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7.2.4 seamdata - Seam data
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Welding sequence
gas
sched-no
power on
wirefeed on
4 x anal. ref.
arc_OK (di SR)
robot move
ignition
weld
heat
end
ignition timeout
signal supervision
forward
next pos.
to pos.
t
t
t
t
t
t
t
T 1
T 2
T 5
T 3
D/T 4
scrape
T 5
T 6
T 7
T 8
D
C
B
A
xx1200000713
maximum gas_purge / arc_preset time
T 1
gas_preflow time
T 2
ignition_movement_delay time
T 3
heating distance/time
D/T 4
burnback time
T 5
maximum cooling/ arc_preset time
T 6
filling time
T 7
maximum cooling/ gas_postflow time
T 8
ign_sched
A
heat_sched
B
weld_sched
C
fill_sched
D
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
Component group: Ignition
purge_time
Data type: num
The time (in seconds) it takes to fill gas lines and the welding gun with protective
gas, so called "gas purging". The first weld instruction is an ArcLStart or
ArcLCStart , the gas flow is activated at the specified gas purge time before the
programmed position is reached.
If the positioning time to the start position of the weld is shorter than the gas purge
time, or if the ArcLStart or ArcCStart instruction is not used, the robot waits in
the weld start position until the gas purge time has expired.
preflow_time
Data type: num
The time (in seconds) it takes to preflow the weld object with protective gas, so
called "gas preflowing".
The robot is stationary in position during this time before the arc is ignited.
If a schedule based welder is used, the ignition schedule is sent to the welder at
the same time as the arc is ignited. This is in most cases too late for the welder.
Setting the preflow_time to for example 0.2 seconds, will give the welder some
time to react on the schedule sent to it.
ign_arc
Data type: arcdata
Weld parameters during the ignition phase. See definition of arcdata , arcdata -
Arc data on page 173 .
ign_move_delay (ignition movement delay)
Data type: num
The delay (in seconds) from the time the arc is considered stable at ignition until
the heating phase is started. The ignition references remain valid during the ignition
movement delay.
scrape_start (scrape start type)
Data type: num
Type of scrape at weld start. Scrape type at restart will not be affected. It will always
be weaving scrape .
Scrape types:
•
0 - No scrape. No scrape will occur at weld start.
•
1 - Weaving scrape.
Component group: Heat
heat_speed
Data type: num
The welding speed during heating at the start of the weld phase.
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
The unit for seamdata components that specify a velocity, is defined by parameter
Units , see The type Arc Robot Properties on page 208 .
heat_time
Data type: num
The heating time (in seconds) at the start of the weld phase.
Heat_time is only used during timed positioning and when heat_distance or
heat_speed equal zero.
heat_distance
Data type: num
The distance along which heat data must be active at the start of the weld.
The unit for seamdata components that specify a distance, is defined by parameter
Units , see The type Arc Robot Properties on page 208 .
heat_arc
Data type: arcdata
Weld parameters during the heat phase. See definition of arcdata - Arc data on
page 173 .
Component group: End
cool_time (cooling time)
Data type: num
The time (in seconds) during which the process is closed before other terminating
activities (filling) take place.
fill_time
Data type: num
The crater-filling time (in seconds) at the end phase of the weld.
This component needs crater fill to be set for the Arc Welding function.
fill_arc
Data type: arcdata
Weld parameters during the filling phase. See definition of arcdata , arcdata - Arc
data on page 173 .
bback_time (burnback time)
Data type: num
The time (in seconds) during which the weld electrode is burnt back when electrode
feeding has stopped. This to prevent the electrode getting stuck to the hardening
weld when a MIG/ MAG process is switched off. Burnback time is used twice in
the end phase; first when the weld phase is being finished, the second time after
crater-filling. This component needs burnback to be set for the Arc Welding function.
rback_time (rollback time)
Data type: num
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Component group: Ignition
purge_time
Data type: num
The time (in seconds) it takes to fill gas lines and the welding gun with protective
gas, so called "gas purging". The first weld instruction is an ArcLStart or
ArcLCStart , the gas flow is activated at the specified gas purge time before the
programmed position is reached.
If the positioning time to the start position of the weld is shorter than the gas purge
time, or if the ArcLStart or ArcCStart instruction is not used, the robot waits in
the weld start position until the gas purge time has expired.
preflow_time
Data type: num
The time (in seconds) it takes to preflow the weld object with protective gas, so
called "gas preflowing".
The robot is stationary in position during this time before the arc is ignited.
If a schedule based welder is used, the ignition schedule is sent to the welder at
the same time as the arc is ignited. This is in most cases too late for the welder.
Setting the preflow_time to for example 0.2 seconds, will give the welder some
time to react on the schedule sent to it.
ign_arc
Data type: arcdata
Weld parameters during the ignition phase. See definition of arcdata , arcdata -
Arc data on page 173 .
ign_move_delay (ignition movement delay)
Data type: num
The delay (in seconds) from the time the arc is considered stable at ignition until
the heating phase is started. The ignition references remain valid during the ignition
movement delay.
scrape_start (scrape start type)
Data type: num
Type of scrape at weld start. Scrape type at restart will not be affected. It will always
be weaving scrape .
Scrape types:
•
0 - No scrape. No scrape will occur at weld start.
•
1 - Weaving scrape.
Component group: Heat
heat_speed
Data type: num
The welding speed during heating at the start of the weld phase.
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
The unit for seamdata components that specify a velocity, is defined by parameter
Units , see The type Arc Robot Properties on page 208 .
heat_time
Data type: num
The heating time (in seconds) at the start of the weld phase.
Heat_time is only used during timed positioning and when heat_distance or
heat_speed equal zero.
heat_distance
Data type: num
The distance along which heat data must be active at the start of the weld.
The unit for seamdata components that specify a distance, is defined by parameter
Units , see The type Arc Robot Properties on page 208 .
heat_arc
Data type: arcdata
Weld parameters during the heat phase. See definition of arcdata - Arc data on
page 173 .
Component group: End
cool_time (cooling time)
Data type: num
The time (in seconds) during which the process is closed before other terminating
activities (filling) take place.
fill_time
Data type: num
The crater-filling time (in seconds) at the end phase of the weld.
This component needs crater fill to be set for the Arc Welding function.
fill_arc
Data type: arcdata
Weld parameters during the filling phase. See definition of arcdata , arcdata - Arc
data on page 173 .
bback_time (burnback time)
Data type: num
The time (in seconds) during which the weld electrode is burnt back when electrode
feeding has stopped. This to prevent the electrode getting stuck to the hardening
weld when a MIG/ MAG process is switched off. Burnback time is used twice in
the end phase; first when the weld phase is being finished, the second time after
crater-filling. This component needs burnback to be set for the Arc Welding function.
rback_time (rollback time)
Data type: num
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
The time (in seconds) during which a cold wire is rolled back after the power source
has been switched off. This to prevent the wire getting stuck to the hardening weld
when a TIG process is switched off. This component needs rollback to be set for
the Arc Welding function.
bback_arc
Data type: arcdata
Weld parameters during the burnback and rollback phase. See definition of
arcdata , arcdata - Arc data on page 173 .
postflow_time
Data type: num
The time (in seconds) required for purging with protective gas after the end of a
process. The purpose of gas postflow is to prevent the weld electrode and the
seam from oxidizing during cooling.
Limitation
There is no component for rollback wire feed in seamdata .
However, the functionality can be achieved by using the wire feed component in
the burnback part of seamdata ( bback_arc ).
To activate rollback functionality with rollback wire feed, the following needs to be
fulfilled:
•
Rollback On needs to be activated in the topic Process (configuration).
•
Rollback Wirefeed On needs to be activated in the topic Process
(configuration).
•
Burnback On needs to be activated in the topic Process (configuration).
•
Burnback Voltage On needs to be activated in the topic Process
(configuration).
If this is done, rollback time ( rback_time ) in seamdata and wirefeed component
in bback_arc will be visible.
Structure
<data object of seamdata>
<purge_time of num>
<preflow_time of num>
<startcurrent_time of num>
<startcurrent_slope of num>
<ign_arc of arcdata>
<ign_move_delay of num>
<scrape_start of num>
<heat_speed of num>
<heat_time of num>
<heat_distance of num>
<heat_arc of arcdata>
<endcurrent_time of num>
<endcurrent_slope of num>
<cool_time of num>
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7.2.4 seamdata - Seam data
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The unit for seamdata components that specify a velocity, is defined by parameter
Units , see The type Arc Robot Properties on page 208 .
heat_time
Data type: num
The heating time (in seconds) at the start of the weld phase.
Heat_time is only used during timed positioning and when heat_distance or
heat_speed equal zero.
heat_distance
Data type: num
The distance along which heat data must be active at the start of the weld.
The unit for seamdata components that specify a distance, is defined by parameter
Units , see The type Arc Robot Properties on page 208 .
heat_arc
Data type: arcdata
Weld parameters during the heat phase. See definition of arcdata - Arc data on
page 173 .
Component group: End
cool_time (cooling time)
Data type: num
The time (in seconds) during which the process is closed before other terminating
activities (filling) take place.
fill_time
Data type: num
The crater-filling time (in seconds) at the end phase of the weld.
This component needs crater fill to be set for the Arc Welding function.
fill_arc
Data type: arcdata
Weld parameters during the filling phase. See definition of arcdata , arcdata - Arc
data on page 173 .
bback_time (burnback time)
Data type: num
The time (in seconds) during which the weld electrode is burnt back when electrode
feeding has stopped. This to prevent the electrode getting stuck to the hardening
weld when a MIG/ MAG process is switched off. Burnback time is used twice in
the end phase; first when the weld phase is being finished, the second time after
crater-filling. This component needs burnback to be set for the Arc Welding function.
rback_time (rollback time)
Data type: num
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
The time (in seconds) during which a cold wire is rolled back after the power source
has been switched off. This to prevent the wire getting stuck to the hardening weld
when a TIG process is switched off. This component needs rollback to be set for
the Arc Welding function.
bback_arc
Data type: arcdata
Weld parameters during the burnback and rollback phase. See definition of
arcdata , arcdata - Arc data on page 173 .
postflow_time
Data type: num
The time (in seconds) required for purging with protective gas after the end of a
process. The purpose of gas postflow is to prevent the weld electrode and the
seam from oxidizing during cooling.
Limitation
There is no component for rollback wire feed in seamdata .
However, the functionality can be achieved by using the wire feed component in
the burnback part of seamdata ( bback_arc ).
To activate rollback functionality with rollback wire feed, the following needs to be
fulfilled:
•
Rollback On needs to be activated in the topic Process (configuration).
•
Rollback Wirefeed On needs to be activated in the topic Process
(configuration).
•
Burnback On needs to be activated in the topic Process (configuration).
•
Burnback Voltage On needs to be activated in the topic Process
(configuration).
If this is done, rollback time ( rback_time ) in seamdata and wirefeed component
in bback_arc will be visible.
Structure
<data object of seamdata>
<purge_time of num>
<preflow_time of num>
<startcurrent_time of num>
<startcurrent_slope of num>
<ign_arc of arcdata>
<ign_move_delay of num>
<scrape_start of num>
<heat_speed of num>
<heat_time of num>
<heat_distance of num>
<heat_arc of arcdata>
<endcurrent_time of num>
<endcurrent_slope of num>
<cool_time of num>
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
<fill_time of num>
<fill_arc of arcdata>
<bback_time of num>
<rback_time of num>
<bback_arc of arcdata>
<postflow_time of num>
Related information
Described in
Information
welddata - Weld data on page 195
Weld data
arcdata - Arc data on page 173
Arc data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instruction
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instruction
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7.2.4 seamdata - Seam data
RobotWare Arc
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The time (in seconds) during which a cold wire is rolled back after the power source
has been switched off. This to prevent the wire getting stuck to the hardening weld
when a TIG process is switched off. This component needs rollback to be set for
the Arc Welding function.
bback_arc
Data type: arcdata
Weld parameters during the burnback and rollback phase. See definition of
arcdata , arcdata - Arc data on page 173 .
postflow_time
Data type: num
The time (in seconds) required for purging with protective gas after the end of a
process. The purpose of gas postflow is to prevent the weld electrode and the
seam from oxidizing during cooling.
Limitation
There is no component for rollback wire feed in seamdata .
However, the functionality can be achieved by using the wire feed component in
the burnback part of seamdata ( bback_arc ).
To activate rollback functionality with rollback wire feed, the following needs to be
fulfilled:
•
Rollback On needs to be activated in the topic Process (configuration).
•
Rollback Wirefeed On needs to be activated in the topic Process
(configuration).
•
Burnback On needs to be activated in the topic Process (configuration).
•
Burnback Voltage On needs to be activated in the topic Process
(configuration).
If this is done, rollback time ( rback_time ) in seamdata and wirefeed component
in bback_arc will be visible.
Structure
<data object of seamdata>
<purge_time of num>
<preflow_time of num>
<startcurrent_time of num>
<startcurrent_slope of num>
<ign_arc of arcdata>
<ign_move_delay of num>
<scrape_start of num>
<heat_speed of num>
<heat_time of num>
<heat_distance of num>
<heat_arc of arcdata>
<endcurrent_time of num>
<endcurrent_slope of num>
<cool_time of num>
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7.2.4 seamdata - Seam data
RobotWare Arc
Continued
<fill_time of num>
<fill_arc of arcdata>
<bback_time of num>
<rback_time of num>
<bback_arc of arcdata>
<postflow_time of num>
Related information
Described in
Information
welddata - Weld data on page 195
Weld data
arcdata - Arc data on page 173
Arc data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instruction
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instruction
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7 RAPID reference
7.2.4 seamdata - Seam data
RobotWare Arc
Continued
7.2.5 trackdata - Seam tracking data
Usage and description
trackdata is used to control path corrections during the weld phase.
trackdata used in a given instruction along a path affects the path correction
until the specified position is reached. Using instructions with different track data,
it is thus possible to achieve optimum position control along an entire seam. The
optional trackdata argument must be used during the whole weldseam, that is,
from the ArcXStart to the ArcXEnd instruction.
The process path should be programmed accurately with respect to the nominal
geometry and orientation of the work piece. The tracking function activated by the
optional trackdata argument will compensate for deviations from the nominal
path.
The function best suited for welding applications with long strait seams with speeds
lower than 20 mm/s and orientation errors less than 10 deg.
Note
Some of the components of trackdata depend on the configuration of the robot.
trackdata will only include component appropriate for the selected sensor
type.
Components
track_system
Data type: num
This parameter defines which tracking system that is used, Optical or WeldGuide .
It is also used for data masking of the trackdata . The track_device is configured
in the equipment configuration parameters.
store_path
Data type: bool
Parameter used when the path should be stored.
max_corr
Data type: num
For Optical:
•
If the TCP offset due to path corrections is more than max_corr and Max
Correction Warning was set in the Optical Sensor Properties , the
robot will continue its path but the applied path correction will not exceed
max_corr . If Max Correction Warning was not set, a track error is
reported and program execution is stopped.
For WeldGuide:
•
The max_corr component defines the maximum path correction allowed. If
the TCP is offset more than max_corr by path corrections a track error is
reported and program execution is stopped.
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7.2.5 trackdata - Seam tracking data
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<fill_time of num>
<fill_arc of arcdata>
<bback_time of num>
<rback_time of num>
<bback_arc of arcdata>
<postflow_time of num>
Related information
Described in
Information
welddata - Weld data on page 195
Weld data
arcdata - Arc data on page 173
Arc data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instruction
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instruction
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7 RAPID reference
7.2.4 seamdata - Seam data
RobotWare Arc
Continued
7.2.5 trackdata - Seam tracking data
Usage and description
trackdata is used to control path corrections during the weld phase.
trackdata used in a given instruction along a path affects the path correction
until the specified position is reached. Using instructions with different track data,
it is thus possible to achieve optimum position control along an entire seam. The
optional trackdata argument must be used during the whole weldseam, that is,
from the ArcXStart to the ArcXEnd instruction.
The process path should be programmed accurately with respect to the nominal
geometry and orientation of the work piece. The tracking function activated by the
optional trackdata argument will compensate for deviations from the nominal
path.
The function best suited for welding applications with long strait seams with speeds
lower than 20 mm/s and orientation errors less than 10 deg.
Note
Some of the components of trackdata depend on the configuration of the robot.
trackdata will only include component appropriate for the selected sensor
type.
Components
track_system
Data type: num
This parameter defines which tracking system that is used, Optical or WeldGuide .
It is also used for data masking of the trackdata . The track_device is configured
in the equipment configuration parameters.
store_path
Data type: bool
Parameter used when the path should be stored.
max_corr
Data type: num
For Optical:
•
If the TCP offset due to path corrections is more than max_corr and Max
Correction Warning was set in the Optical Sensor Properties , the
robot will continue its path but the applied path correction will not exceed
max_corr . If Max Correction Warning was not set, a track error is
reported and program execution is stopped.
For WeldGuide:
•
The max_corr component defines the maximum path correction allowed. If
the TCP is offset more than max_corr by path corrections a track error is
reported and program execution is stopped.
Continues on next page
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7.2.5 trackdata - Seam tracking data
RobotWare Arc
arctrack
Data type: arctrackdata
Track data with parameters for non-optical trackers (AWC).
opttrack
Data type: opttrackdata
Track data with parameters for optical trackers (laser trackers).
Structure of trackdata
<data object of trackdata>
<track_system of num>
<store_path of bool>
<max_corr of num>
<arctrack of arctrackdata>
<opttrack of opttrackdata>
Components of arctrackdata
track_type
Data type: num
The parameter defines what type of tracking to be performed. The tracking types
available are: Center line, Adaptive, Right side, Left side and Height only. In order
for the robot to track, the optional argument \Track must be added to each weld
instruction in the program.
Description
Value
Center line tracking
0
Adaptive tracking
1
Single side tracking (Right)
2
Single side tracking (Left)
3
Height only tracking (Constant stick-out length is kept) (a value of 4
is reserved for TIG welding only)
4
Height only tracking (Constant stick-out length is kept)
5
gain_y
Data type: num
The gain_y parameters define how big of a correction is sent to the robot. The
higher the number the faster the system corrects. The range of this parameter is
from 1 to 100. Initial starting values for this parameter depend on weave size. Start
with 30 for most weave widths and 5 for very small weave widths.
gain_z
Data type: num
The gain_z parameters define how big of a correction is sent to the robot. The
higher the number the faster the system corrects. The range of this parameter is
from 1 to 100. Initial starting values for this parameter depend on weave size. Start
with 30 for most weave widths and 5 for very small weave widths.
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7.2.5 trackdata - Seam tracking data
Usage and description
trackdata is used to control path corrections during the weld phase.
trackdata used in a given instruction along a path affects the path correction
until the specified position is reached. Using instructions with different track data,
it is thus possible to achieve optimum position control along an entire seam. The
optional trackdata argument must be used during the whole weldseam, that is,
from the ArcXStart to the ArcXEnd instruction.
The process path should be programmed accurately with respect to the nominal
geometry and orientation of the work piece. The tracking function activated by the
optional trackdata argument will compensate for deviations from the nominal
path.
The function best suited for welding applications with long strait seams with speeds
lower than 20 mm/s and orientation errors less than 10 deg.
Note
Some of the components of trackdata depend on the configuration of the robot.
trackdata will only include component appropriate for the selected sensor
type.
Components
track_system
Data type: num
This parameter defines which tracking system that is used, Optical or WeldGuide .
It is also used for data masking of the trackdata . The track_device is configured
in the equipment configuration parameters.
store_path
Data type: bool
Parameter used when the path should be stored.
max_corr
Data type: num
For Optical:
•
If the TCP offset due to path corrections is more than max_corr and Max
Correction Warning was set in the Optical Sensor Properties , the
robot will continue its path but the applied path correction will not exceed
max_corr . If Max Correction Warning was not set, a track error is
reported and program execution is stopped.
For WeldGuide:
•
The max_corr component defines the maximum path correction allowed. If
the TCP is offset more than max_corr by path corrections a track error is
reported and program execution is stopped.
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arctrack
Data type: arctrackdata
Track data with parameters for non-optical trackers (AWC).
opttrack
Data type: opttrackdata
Track data with parameters for optical trackers (laser trackers).
Structure of trackdata
<data object of trackdata>
<track_system of num>
<store_path of bool>
<max_corr of num>
<arctrack of arctrackdata>
<opttrack of opttrackdata>
Components of arctrackdata
track_type
Data type: num
The parameter defines what type of tracking to be performed. The tracking types
available are: Center line, Adaptive, Right side, Left side and Height only. In order
for the robot to track, the optional argument \Track must be added to each weld
instruction in the program.
Description
Value
Center line tracking
0
Adaptive tracking
1
Single side tracking (Right)
2
Single side tracking (Left)
3
Height only tracking (Constant stick-out length is kept) (a value of 4
is reserved for TIG welding only)
4
Height only tracking (Constant stick-out length is kept)
5
gain_y
Data type: num
The gain_y parameters define how big of a correction is sent to the robot. The
higher the number the faster the system corrects. The range of this parameter is
from 1 to 100. Initial starting values for this parameter depend on weave size. Start
with 30 for most weave widths and 5 for very small weave widths.
gain_z
Data type: num
The gain_z parameters define how big of a correction is sent to the robot. The
higher the number the faster the system corrects. The range of this parameter is
from 1 to 100. Initial starting values for this parameter depend on weave size. Start
with 30 for most weave widths and 5 for very small weave widths.
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weld_penetration
Data type: num
Defines how hard the system should bite in to the sidewall of the parent material
in percentage of penetration. Although always present, the WG uses this parameter
only during adaptive, right and left side tracking. Range, about 1-4.
track_bias
Data type: num
The bias parameter is used to move the TCP in the seam y direction to bias one
side of the joint or the other. The range for this parameter is from -30 to +30 where
+30 is the highest amount of bias achievable in the plus Y direction of the seam
coordinates. Used in center line-tracking only.
min_weave
Data type: num
This is the minimum weave width setting that system is allowed to change during
adaptive tracking. Minimum value need to be > 2mm.
max_weave
Data type: num
This is the maximum weave width setting that system is allowed to change during
adaptive tracking.
max_speed
Data type: num
This is the minimum travel speed setting that system is allowed to change during
adaptive tracking.
min_speed
Data type: num
This is the maximum travel speed setting that system is allowed to change during
adaptive tracking. Minimum value need to be > 2mm/s.
Structure of arctrackdata
<data object of arctrackdata>
<track_type of num>
<gain_y of num>
<gain_z of num>
<weld_penetration of num>
<track_bias of num>
<min_weave of num>
<max_weave of num>
<min_speed of num>
<max_speed of num>
Components of opttrackdata
joint_no (joint number)
Data type: num
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arctrack
Data type: arctrackdata
Track data with parameters for non-optical trackers (AWC).
opttrack
Data type: opttrackdata
Track data with parameters for optical trackers (laser trackers).
Structure of trackdata
<data object of trackdata>
<track_system of num>
<store_path of bool>
<max_corr of num>
<arctrack of arctrackdata>
<opttrack of opttrackdata>
Components of arctrackdata
track_type
Data type: num
The parameter defines what type of tracking to be performed. The tracking types
available are: Center line, Adaptive, Right side, Left side and Height only. In order
for the robot to track, the optional argument \Track must be added to each weld
instruction in the program.
Description
Value
Center line tracking
0
Adaptive tracking
1
Single side tracking (Right)
2
Single side tracking (Left)
3
Height only tracking (Constant stick-out length is kept) (a value of 4
is reserved for TIG welding only)
4
Height only tracking (Constant stick-out length is kept)
5
gain_y
Data type: num
The gain_y parameters define how big of a correction is sent to the robot. The
higher the number the faster the system corrects. The range of this parameter is
from 1 to 100. Initial starting values for this parameter depend on weave size. Start
with 30 for most weave widths and 5 for very small weave widths.
gain_z
Data type: num
The gain_z parameters define how big of a correction is sent to the robot. The
higher the number the faster the system corrects. The range of this parameter is
from 1 to 100. Initial starting values for this parameter depend on weave size. Start
with 30 for most weave widths and 5 for very small weave widths.
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weld_penetration
Data type: num
Defines how hard the system should bite in to the sidewall of the parent material
in percentage of penetration. Although always present, the WG uses this parameter
only during adaptive, right and left side tracking. Range, about 1-4.
track_bias
Data type: num
The bias parameter is used to move the TCP in the seam y direction to bias one
side of the joint or the other. The range for this parameter is from -30 to +30 where
+30 is the highest amount of bias achievable in the plus Y direction of the seam
coordinates. Used in center line-tracking only.
min_weave
Data type: num
This is the minimum weave width setting that system is allowed to change during
adaptive tracking. Minimum value need to be > 2mm.
max_weave
Data type: num
This is the maximum weave width setting that system is allowed to change during
adaptive tracking.
max_speed
Data type: num
This is the minimum travel speed setting that system is allowed to change during
adaptive tracking.
min_speed
Data type: num
This is the maximum travel speed setting that system is allowed to change during
adaptive tracking. Minimum value need to be > 2mm/s.
Structure of arctrackdata
<data object of arctrackdata>
<track_type of num>
<gain_y of num>
<gain_z of num>
<weld_penetration of num>
<track_bias of num>
<min_weave of num>
<max_weave of num>
<min_speed of num>
<max_speed of num>
Components of opttrackdata
joint_no (joint number)
Data type: num
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The identity (expressed as a number) of path correction programs to send to the
sensor equipment.
filter (path correction filter)
Data type: num
The filter component defines the time constant of a low pass filter applied to path
corrections. The component may be set to values from 1 to 10 where 1 gives the
fastest response to path errors detected by the sensor.
seamoffs_y, seamoffs_z (seam offset y and z)
Data type: num
The seam offset components are used to add offsets to the path generated by the
sensor input. If for instance the sensor considers the upper edge of a lap joint to
be the correct seam position, as indicated in the figure below, the seam offsets
may be used to correct the path.
![Image]
![Image]
Path generated by sensor
Corrected path
xx1200000731
The correction is defined in a seam related right hand coordinate system with the
following definition:
![Image]
xx1200000732
•
The x vector is parallel to the path tangent.
•
The y vector is perpendicular to a plane through the x vector and the tool
z-vector.
•
The z vector is perpendicular to a plane through the x and y vectors.
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weld_penetration
Data type: num
Defines how hard the system should bite in to the sidewall of the parent material
in percentage of penetration. Although always present, the WG uses this parameter
only during adaptive, right and left side tracking. Range, about 1-4.
track_bias
Data type: num
The bias parameter is used to move the TCP in the seam y direction to bias one
side of the joint or the other. The range for this parameter is from -30 to +30 where
+30 is the highest amount of bias achievable in the plus Y direction of the seam
coordinates. Used in center line-tracking only.
min_weave
Data type: num
This is the minimum weave width setting that system is allowed to change during
adaptive tracking. Minimum value need to be > 2mm.
max_weave
Data type: num
This is the maximum weave width setting that system is allowed to change during
adaptive tracking.
max_speed
Data type: num
This is the minimum travel speed setting that system is allowed to change during
adaptive tracking.
min_speed
Data type: num
This is the maximum travel speed setting that system is allowed to change during
adaptive tracking. Minimum value need to be > 2mm/s.
Structure of arctrackdata
<data object of arctrackdata>
<track_type of num>
<gain_y of num>
<gain_z of num>
<weld_penetration of num>
<track_bias of num>
<min_weave of num>
<max_weave of num>
<min_speed of num>
<max_speed of num>
Components of opttrackdata
joint_no (joint number)
Data type: num
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The identity (expressed as a number) of path correction programs to send to the
sensor equipment.
filter (path correction filter)
Data type: num
The filter component defines the time constant of a low pass filter applied to path
corrections. The component may be set to values from 1 to 10 where 1 gives the
fastest response to path errors detected by the sensor.
seamoffs_y, seamoffs_z (seam offset y and z)
Data type: num
The seam offset components are used to add offsets to the path generated by the
sensor input. If for instance the sensor considers the upper edge of a lap joint to
be the correct seam position, as indicated in the figure below, the seam offsets
may be used to correct the path.
![Image]
![Image]
Path generated by sensor
Corrected path
xx1200000731
The correction is defined in a seam related right hand coordinate system with the
following definition:
![Image]
xx1200000732
•
The x vector is parallel to the path tangent.
•
The y vector is perpendicular to a plane through the x vector and the tool
z-vector.
•
The z vector is perpendicular to a plane through the x and y vectors.
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seamadapt_y, seamadapt_z (adaptive seam offset y and z)
Data type: num
The seamadapt components are similar to the seam offset components. The
magnitudes of the offsets are however not given as fixed values. The offsets are
calculated as the measured seam gap multiplied by the seamadapt values.
The components are used to adaptively offset the torch with respect to the seam
to optimize the welding process for different gap sizes.
The components are supported for lap joints.
track_mode (tracking mode for Laser Tracker)
Data type: num
With the track_mode component it is possible to selectively influence the tracking
behavior of a laser tracker.
Track Mode
Value
Normal tracking. y- and z-corrections are both taken into account
0
Tracking as if y-corrections sent by the Laser Tracker were zero. z-cor-
rections are taken into account. i
1
Tracking as if z-corrections sent by the Laser Tracker were zero. y-cor-
rections are taken into account. i
2
Tracking as if y- and z-corrections sent by the Laser Tracker were zero.
i
3
y-correction switched off totally, that is, the correction of the y component
is set to zero before it is sent to the robot. z-correction is taken into ac-
count. ii
4
z-correction switched off totally, that is, the correction of the z component
is set to zero before it is sent to the robot. y-correction is taken into ac-
count. ii
5
y- and z-corrections are switched off totally, that is, the correction of the
y and the z component is set to zero before it is sent to the robot. ii
6
y-correction is faded out, that is, the TCP returns ramped to the pro-
grammed y component of the path. z-correction is active.
7
z-correction is faded out, that is, the TCP returns ramped to the pro-
grammed z component of the path. y-correction is active.
8
y- and z-corrections are faded out, that is, the TCP returns ramped to
the programmed path.
9
y-correction is faded in, that is, the TCP returns ramped to the pro-
grammed y component of the path. z-correction is active.
10
z-correction is faded in, that is, the TCP returns ramped to the pro-
grammed z component of the path. y-correction is active.
11
y- and z-corrections are faded in, that is, the TCP returns ramped to the
programmed path.
12
Tracking as if y-corrections sent by the Laser Tracker were zero. z-cor-
rections are taken into account. The difference to track_mode 1 is, that
the mode starts at the robot TCP position and not at the sensor TCP
position. i
13
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The identity (expressed as a number) of path correction programs to send to the
sensor equipment.
filter (path correction filter)
Data type: num
The filter component defines the time constant of a low pass filter applied to path
corrections. The component may be set to values from 1 to 10 where 1 gives the
fastest response to path errors detected by the sensor.
seamoffs_y, seamoffs_z (seam offset y and z)
Data type: num
The seam offset components are used to add offsets to the path generated by the
sensor input. If for instance the sensor considers the upper edge of a lap joint to
be the correct seam position, as indicated in the figure below, the seam offsets
may be used to correct the path.
![Image]
![Image]
Path generated by sensor
Corrected path
xx1200000731
The correction is defined in a seam related right hand coordinate system with the
following definition:
![Image]
xx1200000732
•
The x vector is parallel to the path tangent.
•
The y vector is perpendicular to a plane through the x vector and the tool
z-vector.
•
The z vector is perpendicular to a plane through the x and y vectors.
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Continued
seamadapt_y, seamadapt_z (adaptive seam offset y and z)
Data type: num
The seamadapt components are similar to the seam offset components. The
magnitudes of the offsets are however not given as fixed values. The offsets are
calculated as the measured seam gap multiplied by the seamadapt values.
The components are used to adaptively offset the torch with respect to the seam
to optimize the welding process for different gap sizes.
The components are supported for lap joints.
track_mode (tracking mode for Laser Tracker)
Data type: num
With the track_mode component it is possible to selectively influence the tracking
behavior of a laser tracker.
Track Mode
Value
Normal tracking. y- and z-corrections are both taken into account
0
Tracking as if y-corrections sent by the Laser Tracker were zero. z-cor-
rections are taken into account. i
1
Tracking as if z-corrections sent by the Laser Tracker were zero. y-cor-
rections are taken into account. i
2
Tracking as if y- and z-corrections sent by the Laser Tracker were zero.
i
3
y-correction switched off totally, that is, the correction of the y component
is set to zero before it is sent to the robot. z-correction is taken into ac-
count. ii
4
z-correction switched off totally, that is, the correction of the z component
is set to zero before it is sent to the robot. y-correction is taken into ac-
count. ii
5
y- and z-corrections are switched off totally, that is, the correction of the
y and the z component is set to zero before it is sent to the robot. ii
6
y-correction is faded out, that is, the TCP returns ramped to the pro-
grammed y component of the path. z-correction is active.
7
z-correction is faded out, that is, the TCP returns ramped to the pro-
grammed z component of the path. y-correction is active.
8
y- and z-corrections are faded out, that is, the TCP returns ramped to
the programmed path.
9
y-correction is faded in, that is, the TCP returns ramped to the pro-
grammed y component of the path. z-correction is active.
10
z-correction is faded in, that is, the TCP returns ramped to the pro-
grammed z component of the path. y-correction is active.
11
y- and z-corrections are faded in, that is, the TCP returns ramped to the
programmed path.
12
Tracking as if y-corrections sent by the Laser Tracker were zero. z-cor-
rections are taken into account. The difference to track_mode 1 is, that
the mode starts at the robot TCP position and not at the sensor TCP
position. i
13
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Continued
Track Mode
Value
Tracking as if z-corrections sent by the Laser Tracker were zero. y-cor-
rections are taken into account. The difference to track_mode 2 is that
the mode starts at the robot TCP position and not at the sensor TCP
position. i
14
Tracking as if y- and z-corrections sent by the Laser Tracker were zero.
The difference to track_mode 3 is that the mode starts at the robot TCP
position and not at the sensor TCP position. i
15
i
For track_mode 1, 2, or 3, the accumulated correction from the previous arc welding instruction
in the same seam will be preserved for y and/or z and passed on to the next arc welding instruction
in the same seam.
ii
For track_mode 4, 5, or 6, the sensor readings are accumulated even though y- and/or z-correction
is set to zero before sending to the robot. That means, a ’dip’ might occur in the beginning and in
the end of the arc weld instruction.
Structure of opttrackdata
<data object of opttrackdata>
<joint_no of num>
<filter of num>
<seamoffs_y of num>
<seamoffs_z of num>
<seamadapt_y of num>
<seamadapt_z of num>
<track_mode of num>
Example
x x x x x
xxxxx
p1
p2
p5
p6
weld2
Movement without welding
Welding and tracking
Start preparations
Direction of welding
weld3
p3
p4
xx1200000733
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcLStart p3, v100, seam1, weld1, weave1, fine, gun1\Track:=track1;
ArcL p4, v100, seam1, weld2, weave1, z10, gun1\Track:=track2;
ArcLEnd p5, v100, seam1,weld3, weave3, fine, gun1\Track:=track3;
MoveJ p6, v100, z10, gun1;
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seamadapt_y, seamadapt_z (adaptive seam offset y and z)
Data type: num
The seamadapt components are similar to the seam offset components. The
magnitudes of the offsets are however not given as fixed values. The offsets are
calculated as the measured seam gap multiplied by the seamadapt values.
The components are used to adaptively offset the torch with respect to the seam
to optimize the welding process for different gap sizes.
The components are supported for lap joints.
track_mode (tracking mode for Laser Tracker)
Data type: num
With the track_mode component it is possible to selectively influence the tracking
behavior of a laser tracker.
Track Mode
Value
Normal tracking. y- and z-corrections are both taken into account
0
Tracking as if y-corrections sent by the Laser Tracker were zero. z-cor-
rections are taken into account. i
1
Tracking as if z-corrections sent by the Laser Tracker were zero. y-cor-
rections are taken into account. i
2
Tracking as if y- and z-corrections sent by the Laser Tracker were zero.
i
3
y-correction switched off totally, that is, the correction of the y component
is set to zero before it is sent to the robot. z-correction is taken into ac-
count. ii
4
z-correction switched off totally, that is, the correction of the z component
is set to zero before it is sent to the robot. y-correction is taken into ac-
count. ii
5
y- and z-corrections are switched off totally, that is, the correction of the
y and the z component is set to zero before it is sent to the robot. ii
6
y-correction is faded out, that is, the TCP returns ramped to the pro-
grammed y component of the path. z-correction is active.
7
z-correction is faded out, that is, the TCP returns ramped to the pro-
grammed z component of the path. y-correction is active.
8
y- and z-corrections are faded out, that is, the TCP returns ramped to
the programmed path.
9
y-correction is faded in, that is, the TCP returns ramped to the pro-
grammed y component of the path. z-correction is active.
10
z-correction is faded in, that is, the TCP returns ramped to the pro-
grammed z component of the path. y-correction is active.
11
y- and z-corrections are faded in, that is, the TCP returns ramped to the
programmed path.
12
Tracking as if y-corrections sent by the Laser Tracker were zero. z-cor-
rections are taken into account. The difference to track_mode 1 is, that
the mode starts at the robot TCP position and not at the sensor TCP
position. i
13
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Continued
Track Mode
Value
Tracking as if z-corrections sent by the Laser Tracker were zero. y-cor-
rections are taken into account. The difference to track_mode 2 is that
the mode starts at the robot TCP position and not at the sensor TCP
position. i
14
Tracking as if y- and z-corrections sent by the Laser Tracker were zero.
The difference to track_mode 3 is that the mode starts at the robot TCP
position and not at the sensor TCP position. i
15
i
For track_mode 1, 2, or 3, the accumulated correction from the previous arc welding instruction
in the same seam will be preserved for y and/or z and passed on to the next arc welding instruction
in the same seam.
ii
For track_mode 4, 5, or 6, the sensor readings are accumulated even though y- and/or z-correction
is set to zero before sending to the robot. That means, a ’dip’ might occur in the beginning and in
the end of the arc weld instruction.
Structure of opttrackdata
<data object of opttrackdata>
<joint_no of num>
<filter of num>
<seamoffs_y of num>
<seamoffs_z of num>
<seamadapt_y of num>
<seamadapt_z of num>
<track_mode of num>
Example
x x x x x
xxxxx
p1
p2
p5
p6
weld2
Movement without welding
Welding and tracking
Start preparations
Direction of welding
weld3
p3
p4
xx1200000733
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcLStart p3, v100, seam1, weld1, weave1, fine, gun1\Track:=track1;
ArcL p4, v100, seam1, weld2, weave1, z10, gun1\Track:=track2;
ArcLEnd p5, v100, seam1,weld3, weave3, fine, gun1\Track:=track3;
MoveJ p6, v100, z10, gun1;
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7 RAPID reference
7.2.5 trackdata - Seam tracking data
RobotWare Arc
Continued
7.2.6 weavedata - Weave data
Usage and description
weavedata is used to define any weaving carried out during arc welding. Weaving
can be used during the heat and weld phases of a seam.
Weaving is a movement, superimposed on the basic path of the process. That
means, the weld speed is kept as defined in welddata and the TCP speed is
increased unless the physical robot limitations are reached. There are four types
of weaving patterns, see Types of weave shape on page 188 .
•
zigzag
•
V-shaped
•
triangular weaving
•
circular weaving
All weave data components apply to both the heat phase and the weld phase.
The unit for weave data components that specify a distance, is defined by the
parameter Units , see The type Arc Robot Properties on page 208 .
Note
Some of the components of weavedata depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is left out from the
weavedata . The conditions that must be met for components to exist are
described in System parameters on page 201 , and components of weavedata -
Weave data on page 188 .
Components
weave_shape (weld weave shape)
Data type: num
The shape of the weaving pattern in the weld phase as illustrated in the following
figures.
Note
The path coordinate system is shown with x-axis in path direction.
Types of weave shape
0 - No weaving.
1 - Zigzag weaving results in a weaving horizontal to the seam.
![Image]
Y W
X W
Z W
X W
Z W
Y W
xx1200000714
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7.2.6 weavedata - Weave data
RobotWare Arc
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Track Mode
Value
Tracking as if z-corrections sent by the Laser Tracker were zero. y-cor-
rections are taken into account. The difference to track_mode 2 is that
the mode starts at the robot TCP position and not at the sensor TCP
position. i
14
Tracking as if y- and z-corrections sent by the Laser Tracker were zero.
The difference to track_mode 3 is that the mode starts at the robot TCP
position and not at the sensor TCP position. i
15
i
For track_mode 1, 2, or 3, the accumulated correction from the previous arc welding instruction
in the same seam will be preserved for y and/or z and passed on to the next arc welding instruction
in the same seam.
ii
For track_mode 4, 5, or 6, the sensor readings are accumulated even though y- and/or z-correction
is set to zero before sending to the robot. That means, a ’dip’ might occur in the beginning and in
the end of the arc weld instruction.
Structure of opttrackdata
<data object of opttrackdata>
<joint_no of num>
<filter of num>
<seamoffs_y of num>
<seamoffs_z of num>
<seamadapt_y of num>
<seamadapt_z of num>
<track_mode of num>
Example
x x x x x
xxxxx
p1
p2
p5
p6
weld2
Movement without welding
Welding and tracking
Start preparations
Direction of welding
weld3
p3
p4
xx1200000733
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcLStart p3, v100, seam1, weld1, weave1, fine, gun1\Track:=track1;
ArcL p4, v100, seam1, weld2, weave1, z10, gun1\Track:=track2;
ArcLEnd p5, v100, seam1,weld3, weave3, fine, gun1\Track:=track3;
MoveJ p6, v100, z10, gun1;
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7 RAPID reference
7.2.5 trackdata - Seam tracking data
RobotWare Arc
Continued
7.2.6 weavedata - Weave data
Usage and description
weavedata is used to define any weaving carried out during arc welding. Weaving
can be used during the heat and weld phases of a seam.
Weaving is a movement, superimposed on the basic path of the process. That
means, the weld speed is kept as defined in welddata and the TCP speed is
increased unless the physical robot limitations are reached. There are four types
of weaving patterns, see Types of weave shape on page 188 .
•
zigzag
•
V-shaped
•
triangular weaving
•
circular weaving
All weave data components apply to both the heat phase and the weld phase.
The unit for weave data components that specify a distance, is defined by the
parameter Units , see The type Arc Robot Properties on page 208 .
Note
Some of the components of weavedata depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is left out from the
weavedata . The conditions that must be met for components to exist are
described in System parameters on page 201 , and components of weavedata -
Weave data on page 188 .
Components
weave_shape (weld weave shape)
Data type: num
The shape of the weaving pattern in the weld phase as illustrated in the following
figures.
Note
The path coordinate system is shown with x-axis in path direction.
Types of weave shape
0 - No weaving.
1 - Zigzag weaving results in a weaving horizontal to the seam.
![Image]
Y W
X W
Z W
X W
Z W
Y W
xx1200000714
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
2 - V-shaped weaving results in weaving in the shape of a "V", vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000715
3 - Triangular weaving results in a triangular shape, vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000716
4 - Circular weaving results in a circular shape, vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000717
The type of weaving in the weld phase
weave_type (weld weave interpolation type)
Data type: num
Weaving type
Specified value
Geometric weaving. All axes are used during weaving.
0
Wrist weaving.
1
Rapid weaving. Axes 1, 2, and 3 used.
2
Rapid weaving. Axes 4, 5, and 6 used.
3
* * * *
3
2
1
0
weave accuracy
weave frequency
xx1200000718
weave_length
Data type: num
There are two meanings of the weave_length component: length and frequency.
For length the component weave_length is defined as a length of the weaving
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
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7.2.6 weavedata - Weave data
Usage and description
weavedata is used to define any weaving carried out during arc welding. Weaving
can be used during the heat and weld phases of a seam.
Weaving is a movement, superimposed on the basic path of the process. That
means, the weld speed is kept as defined in welddata and the TCP speed is
increased unless the physical robot limitations are reached. There are four types
of weaving patterns, see Types of weave shape on page 188 .
•
zigzag
•
V-shaped
•
triangular weaving
•
circular weaving
All weave data components apply to both the heat phase and the weld phase.
The unit for weave data components that specify a distance, is defined by the
parameter Units , see The type Arc Robot Properties on page 208 .
Note
Some of the components of weavedata depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is left out from the
weavedata . The conditions that must be met for components to exist are
described in System parameters on page 201 , and components of weavedata -
Weave data on page 188 .
Components
weave_shape (weld weave shape)
Data type: num
The shape of the weaving pattern in the weld phase as illustrated in the following
figures.
Note
The path coordinate system is shown with x-axis in path direction.
Types of weave shape
0 - No weaving.
1 - Zigzag weaving results in a weaving horizontal to the seam.
![Image]
Y W
X W
Z W
X W
Z W
Y W
xx1200000714
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
2 - V-shaped weaving results in weaving in the shape of a "V", vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000715
3 - Triangular weaving results in a triangular shape, vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000716
4 - Circular weaving results in a circular shape, vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000717
The type of weaving in the weld phase
weave_type (weld weave interpolation type)
Data type: num
Weaving type
Specified value
Geometric weaving. All axes are used during weaving.
0
Wrist weaving.
1
Rapid weaving. Axes 1, 2, and 3 used.
2
Rapid weaving. Axes 4, 5, and 6 used.
3
* * * *
3
2
1
0
weave accuracy
weave frequency
xx1200000718
weave_length
Data type: num
There are two meanings of the weave_length component: length and frequency.
For length the component weave_length is defined as a length of the weaving
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
cycle in the weld phase for weaving types 0 and 1, see the following figure. See
the measurement L in the following figure.
For circular weaving the length attribute defines the rotation frequency of the TCP.
The TCP rotates left with a positive length value, and right with a negative length
value. L is calculated as L = weld_speed / weave_length .
Y W
X W
Y W
X W
Y W
X W
L
L
L
xx1200000719
For frequency the component weave_length is defined as the frequency of the
weaving cycle in the weld phase for weaving types 2 and 3, see the following figure.
For circular weaving the weave_length argument defines the weaving frequency
(in Hz).
The TCP rotates left with a positive weave_length value, and right with a negative
weave_length value.
Y W
X W
T
f = 1
T
xx1200000720
weave_width
Data type: num
For circular weaving, width is the radius of the circle. For all other weaving shapes,
width is the total amplitude of the weaving pattern. See the measurement W in the
following figure.
Y W
X W
Y W
X W
w
w
xx1200000721
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7.2.6 weavedata - Weave data
RobotWare Arc
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2 - V-shaped weaving results in weaving in the shape of a "V", vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000715
3 - Triangular weaving results in a triangular shape, vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000716
4 - Circular weaving results in a circular shape, vertical to the seam.
Y W
X W
Z W
X W
Z W
Y W
![Image]
xx1200000717
The type of weaving in the weld phase
weave_type (weld weave interpolation type)
Data type: num
Weaving type
Specified value
Geometric weaving. All axes are used during weaving.
0
Wrist weaving.
1
Rapid weaving. Axes 1, 2, and 3 used.
2
Rapid weaving. Axes 4, 5, and 6 used.
3
* * * *
3
2
1
0
weave accuracy
weave frequency
xx1200000718
weave_length
Data type: num
There are two meanings of the weave_length component: length and frequency.
For length the component weave_length is defined as a length of the weaving
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7.2.6 weavedata - Weave data
RobotWare Arc
Continued
cycle in the weld phase for weaving types 0 and 1, see the following figure. See
the measurement L in the following figure.
For circular weaving the length attribute defines the rotation frequency of the TCP.
The TCP rotates left with a positive length value, and right with a negative length
value. L is calculated as L = weld_speed / weave_length .
Y W
X W
Y W
X W
Y W
X W
L
L
L
xx1200000719
For frequency the component weave_length is defined as the frequency of the
weaving cycle in the weld phase for weaving types 2 and 3, see the following figure.
For circular weaving the weave_length argument defines the weaving frequency
(in Hz).
The TCP rotates left with a positive weave_length value, and right with a negative
weave_length value.
Y W
X W
T
f = 1
T
xx1200000720
weave_width
Data type: num
For circular weaving, width is the radius of the circle. For all other weaving shapes,
width is the total amplitude of the weaving pattern. See the measurement W in the
following figure.
Y W
X W
Y W
X W
w
w
xx1200000721
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7.2.6 weavedata - Weave data
RobotWare Arc
Continued
weave_height
Data type: num
The height (H) of the weaving pattern during V-shaped and triangular weaving, see
the following figure. Not available for circular weaving.
Z W
Y W
Z W
Y W
H
xx1200000722
dwell_left
Data type: num
The length of the dwell (DL) used to force the TCP to move only in the direction of
the seam at the left turning point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DL
A
B
DL
xx1200000723
Zigzag and V-shaped weaving
A
Triangular weaving
B
dwell_center
Data type: num
The length of the dwell (DC) used to force the TCP to move only in the direction
of the seam at the center point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DC
DC
A
B
DC
xx1200000724
Zigzag and V-shaped weaving
A
Triangular weaving
B
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7.2.6 weavedata - Weave data
RobotWare Arc
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cycle in the weld phase for weaving types 0 and 1, see the following figure. See
the measurement L in the following figure.
For circular weaving the length attribute defines the rotation frequency of the TCP.
The TCP rotates left with a positive length value, and right with a negative length
value. L is calculated as L = weld_speed / weave_length .
Y W
X W
Y W
X W
Y W
X W
L
L
L
xx1200000719
For frequency the component weave_length is defined as the frequency of the
weaving cycle in the weld phase for weaving types 2 and 3, see the following figure.
For circular weaving the weave_length argument defines the weaving frequency
(in Hz).
The TCP rotates left with a positive weave_length value, and right with a negative
weave_length value.
Y W
X W
T
f = 1
T
xx1200000720
weave_width
Data type: num
For circular weaving, width is the radius of the circle. For all other weaving shapes,
width is the total amplitude of the weaving pattern. See the measurement W in the
following figure.
Y W
X W
Y W
X W
w
w
xx1200000721
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7.2.6 weavedata - Weave data
RobotWare Arc
Continued
weave_height
Data type: num
The height (H) of the weaving pattern during V-shaped and triangular weaving, see
the following figure. Not available for circular weaving.
Z W
Y W
Z W
Y W
H
xx1200000722
dwell_left
Data type: num
The length of the dwell (DL) used to force the TCP to move only in the direction of
the seam at the left turning point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DL
A
B
DL
xx1200000723
Zigzag and V-shaped weaving
A
Triangular weaving
B
dwell_center
Data type: num
The length of the dwell (DC) used to force the TCP to move only in the direction
of the seam at the center point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DC
DC
A
B
DC
xx1200000724
Zigzag and V-shaped weaving
A
Triangular weaving
B
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7.2.6 weavedata - Weave data
RobotWare Arc
Continued
dwell_right
Data type: num
The length of the dwell (DR) used to force the TCP to move only in the direction
of the seam at the right turning point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DR
A
B
DR
xx1200000725
Zigzag and V-shaped weaving
A
Triangular weaving
B
weave_dir (weave direction angle)
Data type: num
The weave direction angle horizontal to the seam. An angle of zero degrees results
in a weave vertical to the seam.
Y W
X W
Y W
X W
Y W
X W
xx1200000726
weave_tilt (weave tilt angle)
Data type: num
The weave tilt angle, vertical to the seam. An angle of zero degrees results in a
weave which is vertical to the seam.
Y W
X W
Y W
X W
Y W
X W
xx1200000727
weave_ori (weave orientation angle)
Data type: num
The weave orientation angle, horizontal-vertical to the seam. An angle of zero
degrees results in symmetrical weaving.
Z W
Y W
Z W
Y W
Z W
Y W
xx1200000728
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RobotWare Arc
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weave_height
Data type: num
The height (H) of the weaving pattern during V-shaped and triangular weaving, see
the following figure. Not available for circular weaving.
Z W
Y W
Z W
Y W
H
xx1200000722
dwell_left
Data type: num
The length of the dwell (DL) used to force the TCP to move only in the direction of
the seam at the left turning point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DL
A
B
DL
xx1200000723
Zigzag and V-shaped weaving
A
Triangular weaving
B
dwell_center
Data type: num
The length of the dwell (DC) used to force the TCP to move only in the direction
of the seam at the center point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DC
DC
A
B
DC
xx1200000724
Zigzag and V-shaped weaving
A
Triangular weaving
B
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7.2.6 weavedata - Weave data
RobotWare Arc
Continued
dwell_right
Data type: num
The length of the dwell (DR) used to force the TCP to move only in the direction
of the seam at the right turning point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DR
A
B
DR
xx1200000725
Zigzag and V-shaped weaving
A
Triangular weaving
B
weave_dir (weave direction angle)
Data type: num
The weave direction angle horizontal to the seam. An angle of zero degrees results
in a weave vertical to the seam.
Y W
X W
Y W
X W
Y W
X W
xx1200000726
weave_tilt (weave tilt angle)
Data type: num
The weave tilt angle, vertical to the seam. An angle of zero degrees results in a
weave which is vertical to the seam.
Y W
X W
Y W
X W
Y W
X W
xx1200000727
weave_ori (weave orientation angle)
Data type: num
The weave orientation angle, horizontal-vertical to the seam. An angle of zero
degrees results in symmetrical weaving.
Z W
Y W
Z W
Y W
Z W
Y W
xx1200000728
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RobotWare Arc
Continued
weave_bias (weave center bias)
Data type: num
The bias horizontal to the weaving pattern. The bias can only be specified for
zig-zag weaving and may not be greater than half the width of the weave. Not
available for circular weaving.
The following figure shows zigzag weaving with and without bias (B).
Y W
X W
Y W
X W
B
xx1200000729
org_weave_width
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
org_weave_height
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
org_weave_bias
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
Limitations
The maximum weaving frequency is 2 Hz.
The inclination of the weaving pattern must not exceed the ratio 1:10 (84 degrees).
See the following figure.
d y
d x
d y /d x <10
xx1200000730
Change of weave_type in weavedata is not possible in zone points, only in fine
points. This is the behavior for both spline & decbuf interpolator. All robots, that
use TrueMove or QuickMove second generation have the following changed
behavior for the different weaving types available in RW Arc, compared to TrueMove
or QuickMove first generation:
•
Geometric weaving - There is no change.
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RobotWare Arc
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dwell_right
Data type: num
The length of the dwell (DR) used to force the TCP to move only in the direction
of the seam at the right turning point of the weave. Not available for circular weaving.
Y W
X W
Y W
X W
DR
A
B
DR
xx1200000725
Zigzag and V-shaped weaving
A
Triangular weaving
B
weave_dir (weave direction angle)
Data type: num
The weave direction angle horizontal to the seam. An angle of zero degrees results
in a weave vertical to the seam.
Y W
X W
Y W
X W
Y W
X W
xx1200000726
weave_tilt (weave tilt angle)
Data type: num
The weave tilt angle, vertical to the seam. An angle of zero degrees results in a
weave which is vertical to the seam.
Y W
X W
Y W
X W
Y W
X W
xx1200000727
weave_ori (weave orientation angle)
Data type: num
The weave orientation angle, horizontal-vertical to the seam. An angle of zero
degrees results in symmetrical weaving.
Z W
Y W
Z W
Y W
Z W
Y W
xx1200000728
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
weave_bias (weave center bias)
Data type: num
The bias horizontal to the weaving pattern. The bias can only be specified for
zig-zag weaving and may not be greater than half the width of the weave. Not
available for circular weaving.
The following figure shows zigzag weaving with and without bias (B).
Y W
X W
Y W
X W
B
xx1200000729
org_weave_width
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
org_weave_height
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
org_weave_bias
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
Limitations
The maximum weaving frequency is 2 Hz.
The inclination of the weaving pattern must not exceed the ratio 1:10 (84 degrees).
See the following figure.
d y
d x
d y /d x <10
xx1200000730
Change of weave_type in weavedata is not possible in zone points, only in fine
points. This is the behavior for both spline & decbuf interpolator. All robots, that
use TrueMove or QuickMove second generation have the following changed
behavior for the different weaving types available in RW Arc, compared to TrueMove
or QuickMove first generation:
•
Geometric weaving - There is no change.
Continues on next page
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
•
Wrist weaving - uses mainly the wrist axes (4, 5, and 6) but small corrections
can also be added to the main axes to be able to keep the pattern in the
desired plane.
•
Rapid weaving - In TrueMove or QuickMove second generation both
geometric weaving and wrist weaving have highly improved performance.
Therefore Rapid weaving (both types) is not necessary as a special weaving
type any more.
Rapid weaving axis 1, 2, and 3 is the same as geometric weaving.
Rapid weaving axis 4, 5, and 6 is the same as wrist weaving.
The weaving types are still available for backward compatibility.
The system uses TrueMove or QuickMove second generation, if there is a switch
dyn_ipol_type 1 in MOC.cfg in the MOTION_PLANNER data (system
parameters).
Structure
<data object of weavedata>
<weave_shape of num>
<weave_type of num>
<weave_length of num>
<weave_width of num>
<weave_height of num>
<dwell_left of num>
<dwell_center of num>
<dwell_right of num>
<weave_dir of num>
<weave_tilt of num>
<weave_ori of num>
<weave_bias of num>
<org_weave_width of num>
<org_weave_height of num>
<org_weave_bias of num>
Related information
Described in
Information
System parameters on page 201
Installation parameters for welding equipment
and functions
Programming on page 21
Process phases and timing schedules
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
194
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
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weave_bias (weave center bias)
Data type: num
The bias horizontal to the weaving pattern. The bias can only be specified for
zig-zag weaving and may not be greater than half the width of the weave. Not
available for circular weaving.
The following figure shows zigzag weaving with and without bias (B).
Y W
X W
Y W
X W
B
xx1200000729
org_weave_width
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
org_weave_height
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
org_weave_bias
Data type: num
This component holds the last saved original value for the tuning function. It can
be used for a quick restore of a changed value to the original value.
Limitations
The maximum weaving frequency is 2 Hz.
The inclination of the weaving pattern must not exceed the ratio 1:10 (84 degrees).
See the following figure.
d y
d x
d y /d x <10
xx1200000730
Change of weave_type in weavedata is not possible in zone points, only in fine
points. This is the behavior for both spline & decbuf interpolator. All robots, that
use TrueMove or QuickMove second generation have the following changed
behavior for the different weaving types available in RW Arc, compared to TrueMove
or QuickMove first generation:
•
Geometric weaving - There is no change.
Continues on next page
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
•
Wrist weaving - uses mainly the wrist axes (4, 5, and 6) but small corrections
can also be added to the main axes to be able to keep the pattern in the
desired plane.
•
Rapid weaving - In TrueMove or QuickMove second generation both
geometric weaving and wrist weaving have highly improved performance.
Therefore Rapid weaving (both types) is not necessary as a special weaving
type any more.
Rapid weaving axis 1, 2, and 3 is the same as geometric weaving.
Rapid weaving axis 4, 5, and 6 is the same as wrist weaving.
The weaving types are still available for backward compatibility.
The system uses TrueMove or QuickMove second generation, if there is a switch
dyn_ipol_type 1 in MOC.cfg in the MOTION_PLANNER data (system
parameters).
Structure
<data object of weavedata>
<weave_shape of num>
<weave_type of num>
<weave_length of num>
<weave_width of num>
<weave_height of num>
<dwell_left of num>
<dwell_center of num>
<dwell_right of num>
<weave_dir of num>
<weave_tilt of num>
<weave_ori of num>
<weave_bias of num>
<org_weave_width of num>
<org_weave_height of num>
<org_weave_bias of num>
Related information
Described in
Information
System parameters on page 201
Installation parameters for welding equipment
and functions
Programming on page 21
Process phases and timing schedules
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
194
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7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
7.2.7 welddata - Weld data
Usage and description
welddata controls the weld during the weld phase, i.e. as long as the arc is
established. Start, restart and end phases are controlled using seamdata - Seam
data on page 176 .
welddata describes data that normally vary along a seam. welddata used in a
given instruction along a path affects the weld until the specified position is reached.
By using instructions with different weld data, it is thus possible to achieve optimum
control over the welding equipment along a seam. welddata affects the weld when
fusion has been established (after heating) at the start of a process.
When using an ArcLStart or ArcCStart instruction, the arc is not ignited until
the destination position is reached, which means that weld data does not have any
effect on the weld in this instruction.
When using ArcLStart , the arc is not ignited until the destination position is
reached, which means that weld data does not have any effect on the weld in this
instruction.
When going from one arc welding instruction to another during a weld, the new
weld data will be applied starting in the middle of the corner path.
All voltages can be expressed in two ways (determined by the welding equipment):
•
As absolute values (only positive values are used in this case).
•
As corrections of values set in the process equipment (both positive and
negative values are used in this case).
Feeding the weld electrode in this section refers to MIG/MAG welding. For TIG
welding, a cold wire is supplied to the wire feed. The necessary welding current
reference value can be connected to any of the three analog outputs that are not
used. The Welding voltage reference is not used.
Example
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcLStart p3, v100, seam1, weld1 \Weave:=weave1, fine, gun1;
ArcL p4, v100, seam1, weld2 \Weave:=weave1, z10, gun1;
ArcLEnd p5, v100, seam1,weld3 \Weave:=weave3, fine, gun1;
MoveJ p6, v100, z10, gun1;
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
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•
Wrist weaving - uses mainly the wrist axes (4, 5, and 6) but small corrections
can also be added to the main axes to be able to keep the pattern in the
desired plane.
•
Rapid weaving - In TrueMove or QuickMove second generation both
geometric weaving and wrist weaving have highly improved performance.
Therefore Rapid weaving (both types) is not necessary as a special weaving
type any more.
Rapid weaving axis 1, 2, and 3 is the same as geometric weaving.
Rapid weaving axis 4, 5, and 6 is the same as wrist weaving.
The weaving types are still available for backward compatibility.
The system uses TrueMove or QuickMove second generation, if there is a switch
dyn_ipol_type 1 in MOC.cfg in the MOTION_PLANNER data (system
parameters).
Structure
<data object of weavedata>
<weave_shape of num>
<weave_type of num>
<weave_length of num>
<weave_width of num>
<weave_height of num>
<dwell_left of num>
<dwell_center of num>
<dwell_right of num>
<weave_dir of num>
<weave_tilt of num>
<weave_ori of num>
<weave_bias of num>
<org_weave_width of num>
<org_weave_height of num>
<org_weave_bias of num>
Related information
Described in
Information
System parameters on page 201
Installation parameters for welding equipment
and functions
Programming on page 21
Process phases and timing schedules
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
194
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.2.6 weavedata - Weave data
RobotWare Arc
Continued
7.2.7 welddata - Weld data
Usage and description
welddata controls the weld during the weld phase, i.e. as long as the arc is
established. Start, restart and end phases are controlled using seamdata - Seam
data on page 176 .
welddata describes data that normally vary along a seam. welddata used in a
given instruction along a path affects the weld until the specified position is reached.
By using instructions with different weld data, it is thus possible to achieve optimum
control over the welding equipment along a seam. welddata affects the weld when
fusion has been established (after heating) at the start of a process.
When using an ArcLStart or ArcCStart instruction, the arc is not ignited until
the destination position is reached, which means that weld data does not have any
effect on the weld in this instruction.
When using ArcLStart , the arc is not ignited until the destination position is
reached, which means that weld data does not have any effect on the weld in this
instruction.
When going from one arc welding instruction to another during a weld, the new
weld data will be applied starting in the middle of the corner path.
All voltages can be expressed in two ways (determined by the welding equipment):
•
As absolute values (only positive values are used in this case).
•
As corrections of values set in the process equipment (both positive and
negative values are used in this case).
Feeding the weld electrode in this section refers to MIG/MAG welding. For TIG
welding, a cold wire is supplied to the wire feed. The necessary welding current
reference value can be connected to any of the three analog outputs that are not
used. The Welding voltage reference is not used.
Example
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcLStart p3, v100, seam1, weld1 \Weave:=weave1, fine, gun1;
ArcL p4, v100, seam1, weld2 \Weave:=weave1, z10, gun1;
ArcLEnd p5, v100, seam1,weld3 \Weave:=weave3, fine, gun1;
MoveJ p6, v100, z10, gun1;
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
x x x x x
xxxxx
p1
p2
p5
p6
weld2
Movement without welding
Welding and tracking
Start preparations
Direction of welding
weld3
p3
p4
xx1200000733
Every welding instruction has different welddata . As the instruction ArcLStart
is used in the first instruction, the first welddata is actually never used.
Welding sequence
Ignition/heat data
Weld data 1
Weld data 2
Weld data 3
End data
sched-no
4 x anal. ref.
welding speed
delay_distance1
delay_distance2
p1
p0
p2
p3
instruction 1
instruction 2
instruction 3
t
t
t
A
B
C
D
E
xx1200000734
Components
weld_speed
Data type: num
The desired welding speed.
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
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7.2.7 welddata - Weld data
Usage and description
welddata controls the weld during the weld phase, i.e. as long as the arc is
established. Start, restart and end phases are controlled using seamdata - Seam
data on page 176 .
welddata describes data that normally vary along a seam. welddata used in a
given instruction along a path affects the weld until the specified position is reached.
By using instructions with different weld data, it is thus possible to achieve optimum
control over the welding equipment along a seam. welddata affects the weld when
fusion has been established (after heating) at the start of a process.
When using an ArcLStart or ArcCStart instruction, the arc is not ignited until
the destination position is reached, which means that weld data does not have any
effect on the weld in this instruction.
When using ArcLStart , the arc is not ignited until the destination position is
reached, which means that weld data does not have any effect on the weld in this
instruction.
When going from one arc welding instruction to another during a weld, the new
weld data will be applied starting in the middle of the corner path.
All voltages can be expressed in two ways (determined by the welding equipment):
•
As absolute values (only positive values are used in this case).
•
As corrections of values set in the process equipment (both positive and
negative values are used in this case).
Feeding the weld electrode in this section refers to MIG/MAG welding. For TIG
welding, a cold wire is supplied to the wire feed. The necessary welding current
reference value can be connected to any of the three analog outputs that are not
used. The Welding voltage reference is not used.
Example
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcLStart p3, v100, seam1, weld1 \Weave:=weave1, fine, gun1;
ArcL p4, v100, seam1, weld2 \Weave:=weave1, z10, gun1;
ArcLEnd p5, v100, seam1,weld3 \Weave:=weave3, fine, gun1;
MoveJ p6, v100, z10, gun1;
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
x x x x x
xxxxx
p1
p2
p5
p6
weld2
Movement without welding
Welding and tracking
Start preparations
Direction of welding
weld3
p3
p4
xx1200000733
Every welding instruction has different welddata . As the instruction ArcLStart
is used in the first instruction, the first welddata is actually never used.
Welding sequence
Ignition/heat data
Weld data 1
Weld data 2
Weld data 3
End data
sched-no
4 x anal. ref.
welding speed
delay_distance1
delay_distance2
p1
p0
p2
p3
instruction 1
instruction 2
instruction 3
t
t
t
A
B
C
D
E
xx1200000734
Components
weld_speed
Data type: num
The desired welding speed.
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
The unit for welddata components that specify a velocity, is defined by the
parameter Units , see The type Arc Robot Properties on page 208 .
If the movements of additional axes are coordinated, the welding speed is the
relative speed between the tool and the object.
If the movements of additional axes are not coordinated, the welding speed is the
TCP speed. The speed of the additional axes is then described in the instruction’s
speed data. The slowest axis determines the speed to enable all axes to reach the
destination position at the same time
org_weld_speed (original weld speed)
Data type: num
The original weld speed during the weld phase. This parameter is visible if
override_on is activated.
main_arc
Data type: arcdata
The main arc parameters during the weld phase. See definition of arcdata for
more information.
org_arc
Data type: arcdata
The original weld parameters during the weld phase. See definition of arcdata
for more information.
This parameter is visible if override_on is activated.
Component group: Override
This component group needs ‘override’ to be set in the Arc Welding function
definition.
org_weld_speed (original weld speed)
Data type: num
The original weld speed during the weld phase. It is used internally by tuning
functions.
org_weld_voltage (original weld voltage)
Data type: num
The original weld voltage during the weld phase. It is used internally by tuning
functions.
org_weld_wfeed (original weld wirefeed speed)
Data type: num
The original weld wirefeed speed during the weld phase. It is used internally by
tuning functions.
This parameter is only available, if wirefeed is defined. See System parameters on
page 201 .
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
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x x x x x
xxxxx
p1
p2
p5
p6
weld2
Movement without welding
Welding and tracking
Start preparations
Direction of welding
weld3
p3
p4
xx1200000733
Every welding instruction has different welddata . As the instruction ArcLStart
is used in the first instruction, the first welddata is actually never used.
Welding sequence
Ignition/heat data
Weld data 1
Weld data 2
Weld data 3
End data
sched-no
4 x anal. ref.
welding speed
delay_distance1
delay_distance2
p1
p0
p2
p3
instruction 1
instruction 2
instruction 3
t
t
t
A
B
C
D
E
xx1200000734
Components
weld_speed
Data type: num
The desired welding speed.
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
The unit for welddata components that specify a velocity, is defined by the
parameter Units , see The type Arc Robot Properties on page 208 .
If the movements of additional axes are coordinated, the welding speed is the
relative speed between the tool and the object.
If the movements of additional axes are not coordinated, the welding speed is the
TCP speed. The speed of the additional axes is then described in the instruction’s
speed data. The slowest axis determines the speed to enable all axes to reach the
destination position at the same time
org_weld_speed (original weld speed)
Data type: num
The original weld speed during the weld phase. This parameter is visible if
override_on is activated.
main_arc
Data type: arcdata
The main arc parameters during the weld phase. See definition of arcdata for
more information.
org_arc
Data type: arcdata
The original weld parameters during the weld phase. See definition of arcdata
for more information.
This parameter is visible if override_on is activated.
Component group: Override
This component group needs ‘override’ to be set in the Arc Welding function
definition.
org_weld_speed (original weld speed)
Data type: num
The original weld speed during the weld phase. It is used internally by tuning
functions.
org_weld_voltage (original weld voltage)
Data type: num
The original weld voltage during the weld phase. It is used internally by tuning
functions.
org_weld_wfeed (original weld wirefeed speed)
Data type: num
The original weld wirefeed speed during the weld phase. It is used internally by
tuning functions.
This parameter is only available, if wirefeed is defined. See System parameters on
page 201 .
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
More examples
The type of weld shown in the following figure is desired, with a welding voltage
of 30 V and a wire feed speed of 15 m/min. The welding speed is 20 mm/s.
x x x x x
xxxxx
p1
p2
p3
p4
Movement without welding
Movement with welding
Start preparations
xx1200000735
PERS welddata weld1 :=
[20,0,[0,0,30,250,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];
MoveJ p1, v100, z20, gun1;
ArcLStart p2, v100, seam1, weld1, fine, gun1;
ArcLEnd p3, v100, seam1, weld1, fine, gun1;
MoveJ p4, v100, z20, gun1;
The weld data values for a weld such as the one in the preceding figure are as
follows:
Description
weld1
Component
Speed in relation to the seam
20 mm/s
weld_speed
Sent to an analog output sig-
nal
30 V
weld_voltage
Sent to an analog output sig-
nal
250 mm/s
weld_wirefeed
The weld schedule identity, weld voltage adjustment and weld current adjustment
components are not active in this example.
The weld data argument does not have any effect in the ArcLStart instruction.
Structure
<data object of welddata>
<weld_speed of num>
<org_weld_speed of num>
<main_arc of arcdata>
<org_arc of arcdata>
Related information
Described in
Information
seamdata - Seam data on page 176
Seam data
arcdata - Arc data on page 173
Arc data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
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The unit for welddata components that specify a velocity, is defined by the
parameter Units , see The type Arc Robot Properties on page 208 .
If the movements of additional axes are coordinated, the welding speed is the
relative speed between the tool and the object.
If the movements of additional axes are not coordinated, the welding speed is the
TCP speed. The speed of the additional axes is then described in the instruction’s
speed data. The slowest axis determines the speed to enable all axes to reach the
destination position at the same time
org_weld_speed (original weld speed)
Data type: num
The original weld speed during the weld phase. This parameter is visible if
override_on is activated.
main_arc
Data type: arcdata
The main arc parameters during the weld phase. See definition of arcdata for
more information.
org_arc
Data type: arcdata
The original weld parameters during the weld phase. See definition of arcdata
for more information.
This parameter is visible if override_on is activated.
Component group: Override
This component group needs ‘override’ to be set in the Arc Welding function
definition.
org_weld_speed (original weld speed)
Data type: num
The original weld speed during the weld phase. It is used internally by tuning
functions.
org_weld_voltage (original weld voltage)
Data type: num
The original weld voltage during the weld phase. It is used internally by tuning
functions.
org_weld_wfeed (original weld wirefeed speed)
Data type: num
The original weld wirefeed speed during the weld phase. It is used internally by
tuning functions.
This parameter is only available, if wirefeed is defined. See System parameters on
page 201 .
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
More examples
The type of weld shown in the following figure is desired, with a welding voltage
of 30 V and a wire feed speed of 15 m/min. The welding speed is 20 mm/s.
x x x x x
xxxxx
p1
p2
p3
p4
Movement without welding
Movement with welding
Start preparations
xx1200000735
PERS welddata weld1 :=
[20,0,[0,0,30,250,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];
MoveJ p1, v100, z20, gun1;
ArcLStart p2, v100, seam1, weld1, fine, gun1;
ArcLEnd p3, v100, seam1, weld1, fine, gun1;
MoveJ p4, v100, z20, gun1;
The weld data values for a weld such as the one in the preceding figure are as
follows:
Description
weld1
Component
Speed in relation to the seam
20 mm/s
weld_speed
Sent to an analog output sig-
nal
30 V
weld_voltage
Sent to an analog output sig-
nal
250 mm/s
weld_wirefeed
The weld schedule identity, weld voltage adjustment and weld current adjustment
components are not active in this example.
The weld data argument does not have any effect in the ArcLStart instruction.
Structure
<data object of welddata>
<weld_speed of num>
<org_weld_speed of num>
<main_arc of arcdata>
<org_arc of arcdata>
Related information
Described in
Information
seamdata - Seam data on page 176
Seam data
arcdata - Arc data on page 173
Arc data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instructions
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instructions
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
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More examples
The type of weld shown in the following figure is desired, with a welding voltage
of 30 V and a wire feed speed of 15 m/min. The welding speed is 20 mm/s.
x x x x x
xxxxx
p1
p2
p3
p4
Movement without welding
Movement with welding
Start preparations
xx1200000735
PERS welddata weld1 :=
[20,0,[0,0,30,250,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];
MoveJ p1, v100, z20, gun1;
ArcLStart p2, v100, seam1, weld1, fine, gun1;
ArcLEnd p3, v100, seam1, weld1, fine, gun1;
MoveJ p4, v100, z20, gun1;
The weld data values for a weld such as the one in the preceding figure are as
follows:
Description
weld1
Component
Speed in relation to the seam
20 mm/s
weld_speed
Sent to an analog output sig-
nal
30 V
weld_voltage
Sent to an analog output sig-
nal
250 mm/s
weld_wirefeed
The weld schedule identity, weld voltage adjustment and weld current adjustment
components are not active in this example.
The weld data argument does not have any effect in the ArcLStart instruction.
Structure
<data object of welddata>
<weld_speed of num>
<org_weld_speed of num>
<main_arc of arcdata>
<org_arc of arcdata>
Related information
Described in
Information
seamdata - Seam data on page 176
Seam data
arcdata - Arc data on page 173
Arc data
System parameters on page 201
Installation parameters for welding
Programming on page 21
Process phases and time diagrams
Continues on next page
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instructions
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instructions
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
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Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Circular arc welding instructions
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Linear arc welding instructions
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7 RAPID reference
7.2.7 welddata - Weld data
RobotWare Arc
Continued
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8 System parameters
8.1 Introduction
Groups of parameter types
The system parameters for RobotWare Arc are divided into the following groups:
•
Arc System
•
Arc Equipment
•
Optical Sensor
See Installation and setup on page 9 for more information about available options
and how to install RobotWare Arc.
Parameter types
Definitions
Parameters
Defines the top level of the Arc System parameters.
Arc System
Defines the properties for Arc System. Includes the
units that will be used when programming Robot-
Ware Arc.
Arc System Properties
Defines the individual Robot properties for Arc Sys-
tem.
Arc Robot Properties
Defines the properties for Arc Error Handler.
Arc Error Handler
Defines the properties for Arc Recovery Menu.
Arc Recovery Menu
Defines the Equipment Class. The Equipment Class
is a software package that is customized to handle
a specific welding Power Source.See Installation
and setup on page 9 for more information about
available options and how to select Power Source.
Arc Equipment
Defines the properties for the Equipment Class.
Arc Equipment Properties
Defines the external Digital Input signals that will be
used by the process.
Arc Equipment Digital Inputs
Defines the external Digital Output signals that will
be used by the process.
Arc Equipment Digital Outputs
Defines the external Analog Input signals that will
be used by the process.
Arc Equipment Analog Inputs
Defines the external Analog Output signals that will
be used by the process.
Arc Equipment Analog Outputs
Defines the external Group Output signals that will
be used by the process.
Arc Equipment Group Outputs
Defines the Optical Sensor.
Optical Sensor
Defines the properties of the Optical Sensor.
Optical Sensor Properties
The Generic Equipment Class
The Generic Equipment Class and settings are activated if one of the following
power source types is selected.
•
Fronius TPS
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8.1 Introduction
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8 System parameters
8.1 Introduction
Groups of parameter types
The system parameters for RobotWare Arc are divided into the following groups:
•
Arc System
•
Arc Equipment
•
Optical Sensor
See Installation and setup on page 9 for more information about available options
and how to install RobotWare Arc.
Parameter types
Definitions
Parameters
Defines the top level of the Arc System parameters.
Arc System
Defines the properties for Arc System. Includes the
units that will be used when programming Robot-
Ware Arc.
Arc System Properties
Defines the individual Robot properties for Arc Sys-
tem.
Arc Robot Properties
Defines the properties for Arc Error Handler.
Arc Error Handler
Defines the properties for Arc Recovery Menu.
Arc Recovery Menu
Defines the Equipment Class. The Equipment Class
is a software package that is customized to handle
a specific welding Power Source.See Installation
and setup on page 9 for more information about
available options and how to select Power Source.
Arc Equipment
Defines the properties for the Equipment Class.
Arc Equipment Properties
Defines the external Digital Input signals that will be
used by the process.
Arc Equipment Digital Inputs
Defines the external Digital Output signals that will
be used by the process.
Arc Equipment Digital Outputs
Defines the external Analog Input signals that will
be used by the process.
Arc Equipment Analog Inputs
Defines the external Analog Output signals that will
be used by the process.
Arc Equipment Analog Outputs
Defines the external Group Output signals that will
be used by the process.
Arc Equipment Group Outputs
Defines the Optical Sensor.
Optical Sensor
Defines the properties of the Optical Sensor.
Optical Sensor Properties
The Generic Equipment Class
The Generic Equipment Class and settings are activated if one of the following
power source types is selected.
•
Fronius TPS
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8 System parameters
8.1 Introduction
•
Standard I/O Welder
•
Simulated Welder
They all load the standard I/O equipment class that supports basic analog and
schedule based welding.
Defining arc welding systems
Up to three arc welding systems can be activated simultaneously in the same robot
installation. This may be required in the following cases:
•
More than one process equipment is connected
•
Two different electrode dimensions are used (different feeding systems must
be used for this to happen)
•
More than one process is used. For example, TIG and MIG/MAG.
If more than one arc welding system is defined, then a new set of instructions and
data types is activated for each system. The first additional system, which is defined
by the sequence of defined system in a configuration file, is connected to
instructions and data types with the suffix 1, and the second to the suffix 2. That
is, ArcL1 and ArcC1 would be connected to seamdata1 , welddata1 .
Configuration files
Note
Configuration files and backups shall not be loaded into systems running an
older RobotWare version than the one they were created in.
Configuration files and backups are not guaranteed to be compatible between
major releases of RobotWare and may need to be migrated after a RobotWare
upgrade.
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8 System parameters
8.1 Introduction
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8 System parameters
8.1 Introduction
Groups of parameter types
The system parameters for RobotWare Arc are divided into the following groups:
•
Arc System
•
Arc Equipment
•
Optical Sensor
See Installation and setup on page 9 for more information about available options
and how to install RobotWare Arc.
Parameter types
Definitions
Parameters
Defines the top level of the Arc System parameters.
Arc System
Defines the properties for Arc System. Includes the
units that will be used when programming Robot-
Ware Arc.
Arc System Properties
Defines the individual Robot properties for Arc Sys-
tem.
Arc Robot Properties
Defines the properties for Arc Error Handler.
Arc Error Handler
Defines the properties for Arc Recovery Menu.
Arc Recovery Menu
Defines the Equipment Class. The Equipment Class
is a software package that is customized to handle
a specific welding Power Source.See Installation
and setup on page 9 for more information about
available options and how to select Power Source.
Arc Equipment
Defines the properties for the Equipment Class.
Arc Equipment Properties
Defines the external Digital Input signals that will be
used by the process.
Arc Equipment Digital Inputs
Defines the external Digital Output signals that will
be used by the process.
Arc Equipment Digital Outputs
Defines the external Analog Input signals that will
be used by the process.
Arc Equipment Analog Inputs
Defines the external Analog Output signals that will
be used by the process.
Arc Equipment Analog Outputs
Defines the external Group Output signals that will
be used by the process.
Arc Equipment Group Outputs
Defines the Optical Sensor.
Optical Sensor
Defines the properties of the Optical Sensor.
Optical Sensor Properties
The Generic Equipment Class
The Generic Equipment Class and settings are activated if one of the following
power source types is selected.
•
Fronius TPS
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8 System parameters
8.1 Introduction
•
Standard I/O Welder
•
Simulated Welder
They all load the standard I/O equipment class that supports basic analog and
schedule based welding.
Defining arc welding systems
Up to three arc welding systems can be activated simultaneously in the same robot
installation. This may be required in the following cases:
•
More than one process equipment is connected
•
Two different electrode dimensions are used (different feeding systems must
be used for this to happen)
•
More than one process is used. For example, TIG and MIG/MAG.
If more than one arc welding system is defined, then a new set of instructions and
data types is activated for each system. The first additional system, which is defined
by the sequence of defined system in a configuration file, is connected to
instructions and data types with the suffix 1, and the second to the suffix 2. That
is, ArcL1 and ArcC1 would be connected to seamdata1 , welddata1 .
Configuration files
Note
Configuration files and backups shall not be loaded into systems running an
older RobotWare version than the one they were created in.
Configuration files and backups are not guaranteed to be compatible between
major releases of RobotWare and may need to be migrated after a RobotWare
upgrade.
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8 System parameters
8.1 Introduction
Continued
8.2 The group Arc System
8.2.1 The type Arc System settings
Description
The top level of configuration parameters for RobotWare Arc is Arc System . The
settings of Arc System is valid for the whole robot system. That is, in a MultiMove
setup, all robots with RobotWare Arc installed will have these settings. If individual
settings for each robot is wanted, then the parameter Individual Robot Properties
Active should be set to True.
Parameters
Note
Data type
Default value
Parameter
The name of the system.
string
ARC1
Name
ARC1 for arc system 1, ARC2
for arc system 2, and ARC3
for arc system 3.
Only ARC1 is installed by de-
fault. Additional arc systems
can be selected and installed,
in RobotStudio.
The arc system properties
used by the arc system.
string
ARC1
Use Arc System Properties
The arc error handler used by
the arc system. See Configur-
ing Weld Error Recovery on
page 55 .
string
default
Use Arc Error Handler
Defines if individual robot
properties are active.
boolean
False
Individual Robot Properties
Active
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•
Standard I/O Welder
•
Simulated Welder
They all load the standard I/O equipment class that supports basic analog and
schedule based welding.
Defining arc welding systems
Up to three arc welding systems can be activated simultaneously in the same robot
installation. This may be required in the following cases:
•
More than one process equipment is connected
•
Two different electrode dimensions are used (different feeding systems must
be used for this to happen)
•
More than one process is used. For example, TIG and MIG/MAG.
If more than one arc welding system is defined, then a new set of instructions and
data types is activated for each system. The first additional system, which is defined
by the sequence of defined system in a configuration file, is connected to
instructions and data types with the suffix 1, and the second to the suffix 2. That
is, ArcL1 and ArcC1 would be connected to seamdata1 , welddata1 .
Configuration files
Note
Configuration files and backups shall not be loaded into systems running an
older RobotWare version than the one they were created in.
Configuration files and backups are not guaranteed to be compatible between
major releases of RobotWare and may need to be migrated after a RobotWare
upgrade.
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8 System parameters
8.1 Introduction
Continued
8.2 The group Arc System
8.2.1 The type Arc System settings
Description
The top level of configuration parameters for RobotWare Arc is Arc System . The
settings of Arc System is valid for the whole robot system. That is, in a MultiMove
setup, all robots with RobotWare Arc installed will have these settings. If individual
settings for each robot is wanted, then the parameter Individual Robot Properties
Active should be set to True.
Parameters
Note
Data type
Default value
Parameter
The name of the system.
string
ARC1
Name
ARC1 for arc system 1, ARC2
for arc system 2, and ARC3
for arc system 3.
Only ARC1 is installed by de-
fault. Additional arc systems
can be selected and installed,
in RobotStudio.
The arc system properties
used by the arc system.
string
ARC1
Use Arc System Properties
The arc error handler used by
the arc system. See Configur-
ing Weld Error Recovery on
page 55 .
string
default
Use Arc Error Handler
Defines if individual robot
properties are active.
boolean
False
Individual Robot Properties
Active
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8 System parameters
8.2.1 The type Arc System settings
8.2.2 The type Arc System Properties
Description
The type Arc System Properties holds parameters that specify the behavior of the
system. The system includes all robots in the configuration.
Parameters
Note
Data type
Parameter
The name of the Arc System Properties .
string
Name
The arc units used by the arc system. These settings
are used by the RobotWare Arc operator interface.
string
Units
Specifies whether the weld is to be restarted in the event
of a welding error. This restart can be done in three
different ways:
•
Automatically: as many times as specified in the
parameter Number of Retries
•
Program controlled: using the error handler for
the routine
•
Manually: when the error has been remedied,
the program can be started in the normal way
If Restart On is set, the robot automatically reverses to
a position as specified in the parameter Restart Dis-
tance .
bool
Restart On
Default value: FALSE
The distance that the robot reverses on the current seam
relative to the position where it was interrupted.
num
Restart Distance
Default value: 0
The number of automatic restart attempts per seam at
welding interrupt.
num
Number Of Retries
Default value: 0
Specifies if the robot is to weave at the actual weld start
(scrape start). The scrape types are specified in seam-
data.
bool
Scrape On
This weaving is automatically interrupted when the arc
is ignited.
This parameter does not influence the behavior at re-
start.
Default value: FALSE
Specifies if the robot is to weave at weld restart. The
scrape types are specified in seamdata.
bool
Scrape Optional On
If parameter is reset (OFF), there will be ‘Weave scrape’
at restart.
Default value: TRUE
The width of the weave pattern for a scrape start.
num
Scrape Width
Default value: 10
The angle of direction of the weave for a scrape start.
It is specified in degrees, where 0 implies a weave that
is carried out at a 90 degrees angle to the direction of
the weld.
num
Scrape Direction
Default value: 0
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8.2.2 The type Arc System Properties
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8.2 The group Arc System
8.2.1 The type Arc System settings
Description
The top level of configuration parameters for RobotWare Arc is Arc System . The
settings of Arc System is valid for the whole robot system. That is, in a MultiMove
setup, all robots with RobotWare Arc installed will have these settings. If individual
settings for each robot is wanted, then the parameter Individual Robot Properties
Active should be set to True.
Parameters
Note
Data type
Default value
Parameter
The name of the system.
string
ARC1
Name
ARC1 for arc system 1, ARC2
for arc system 2, and ARC3
for arc system 3.
Only ARC1 is installed by de-
fault. Additional arc systems
can be selected and installed,
in RobotStudio.
The arc system properties
used by the arc system.
string
ARC1
Use Arc System Properties
The arc error handler used by
the arc system. See Configur-
ing Weld Error Recovery on
page 55 .
string
default
Use Arc Error Handler
Defines if individual robot
properties are active.
boolean
False
Individual Robot Properties
Active
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8 System parameters
8.2.1 The type Arc System settings
8.2.2 The type Arc System Properties
Description
The type Arc System Properties holds parameters that specify the behavior of the
system. The system includes all robots in the configuration.
Parameters
Note
Data type
Parameter
The name of the Arc System Properties .
string
Name
The arc units used by the arc system. These settings
are used by the RobotWare Arc operator interface.
string
Units
Specifies whether the weld is to be restarted in the event
of a welding error. This restart can be done in three
different ways:
•
Automatically: as many times as specified in the
parameter Number of Retries
•
Program controlled: using the error handler for
the routine
•
Manually: when the error has been remedied,
the program can be started in the normal way
If Restart On is set, the robot automatically reverses to
a position as specified in the parameter Restart Dis-
tance .
bool
Restart On
Default value: FALSE
The distance that the robot reverses on the current seam
relative to the position where it was interrupted.
num
Restart Distance
Default value: 0
The number of automatic restart attempts per seam at
welding interrupt.
num
Number Of Retries
Default value: 0
Specifies if the robot is to weave at the actual weld start
(scrape start). The scrape types are specified in seam-
data.
bool
Scrape On
This weaving is automatically interrupted when the arc
is ignited.
This parameter does not influence the behavior at re-
start.
Default value: FALSE
Specifies if the robot is to weave at weld restart. The
scrape types are specified in seamdata.
bool
Scrape Optional On
If parameter is reset (OFF), there will be ‘Weave scrape’
at restart.
Default value: TRUE
The width of the weave pattern for a scrape start.
num
Scrape Width
Default value: 10
The angle of direction of the weave for a scrape start.
It is specified in degrees, where 0 implies a weave that
is carried out at a 90 degrees angle to the direction of
the weld.
num
Scrape Direction
Default value: 0
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8 System parameters
8.2.2 The type Arc System Properties
Note
Data type
Parameter
The time (in seconds) it takes for a complete weave
cycle for a scrape start.
num
Scrape Cycle Time
Default value: 0.2
Specifies whether the move delay specified in seamdata
is to be used from the time the arc is considered stable
at ignition until the heating phase is started.
bool
Ignition Move Delay
On
Default value: FALSE
Specifies the time-out time for no motion. When all
conditions are fulfilled for starting the motion, this timer
starts.
num
Motion Timeout
This is useful in MultiMove systems when for example
one of two robots is ready to start the weld and the
other one is trying to ignite. The motion time-out on the
first robot will then cause an error,
CAP_MOV_WATCHDOG, that will stop all motion in the
system.
If the parameter is set to 0 there is no time-out.
Default value: 1
Specifies whether synchronization pulses are to be sent
at the end positions of the weave.
bool
Weave Sync On
Default value: FALSE
Specifies the stop mode at weld errors. The following
stop modes are available:
•
Smooth Stop On Path (0)
•
Quick Stop On Path (1)
•
Emergency Stop (2)
The default stop mode is Smooth Stop On Path (0) . This
is used in all RobotWare releases previous to 6.09.
num
Stop Mode
Quick Stop On Path (1) stops the robot faster than
Smooth Stop On Path (0) and should be used in com-
bination with the Production Monitoring option to get
more accurate seam length calculations.
Emergency Stop (2) is the fastest stop, but the path
might not be followed in this case.
Note
Scaling between a logical and a physical value on an analog output signal, is
always expressed in m/s. The units in the RAPID code is always SI_UNITS, the
settings above is used only by the RobotWare Arc operator interface for
converting to the above units in the user interface.
Units and values
The units in the RAPID code is always mm and mm/s. The conversion to the
specified units is made in the RobotWare Arc User Interface.
The unit settings available in the Arc System Properties apply to the presentation
of data in the Program Data window and to the RW Arc tuning window.
The wirefeed component of welddata is always converted from mm/s to m/s
before sending the value to the Analog Output.
The chart below shows how to calculate -MaxLog in EIO.cfg when -MaxPhys 10
and the wfeed unit has a maximum speed of 22 m/min. It is valid for all power
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8 System parameters
8.2.2 The type Arc System Properties
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8.2.2 The type Arc System Properties
Description
The type Arc System Properties holds parameters that specify the behavior of the
system. The system includes all robots in the configuration.
Parameters
Note
Data type
Parameter
The name of the Arc System Properties .
string
Name
The arc units used by the arc system. These settings
are used by the RobotWare Arc operator interface.
string
Units
Specifies whether the weld is to be restarted in the event
of a welding error. This restart can be done in three
different ways:
•
Automatically: as many times as specified in the
parameter Number of Retries
•
Program controlled: using the error handler for
the routine
•
Manually: when the error has been remedied,
the program can be started in the normal way
If Restart On is set, the robot automatically reverses to
a position as specified in the parameter Restart Dis-
tance .
bool
Restart On
Default value: FALSE
The distance that the robot reverses on the current seam
relative to the position where it was interrupted.
num
Restart Distance
Default value: 0
The number of automatic restart attempts per seam at
welding interrupt.
num
Number Of Retries
Default value: 0
Specifies if the robot is to weave at the actual weld start
(scrape start). The scrape types are specified in seam-
data.
bool
Scrape On
This weaving is automatically interrupted when the arc
is ignited.
This parameter does not influence the behavior at re-
start.
Default value: FALSE
Specifies if the robot is to weave at weld restart. The
scrape types are specified in seamdata.
bool
Scrape Optional On
If parameter is reset (OFF), there will be ‘Weave scrape’
at restart.
Default value: TRUE
The width of the weave pattern for a scrape start.
num
Scrape Width
Default value: 10
The angle of direction of the weave for a scrape start.
It is specified in degrees, where 0 implies a weave that
is carried out at a 90 degrees angle to the direction of
the weld.
num
Scrape Direction
Default value: 0
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8 System parameters
8.2.2 The type Arc System Properties
Note
Data type
Parameter
The time (in seconds) it takes for a complete weave
cycle for a scrape start.
num
Scrape Cycle Time
Default value: 0.2
Specifies whether the move delay specified in seamdata
is to be used from the time the arc is considered stable
at ignition until the heating phase is started.
bool
Ignition Move Delay
On
Default value: FALSE
Specifies the time-out time for no motion. When all
conditions are fulfilled for starting the motion, this timer
starts.
num
Motion Timeout
This is useful in MultiMove systems when for example
one of two robots is ready to start the weld and the
other one is trying to ignite. The motion time-out on the
first robot will then cause an error,
CAP_MOV_WATCHDOG, that will stop all motion in the
system.
If the parameter is set to 0 there is no time-out.
Default value: 1
Specifies whether synchronization pulses are to be sent
at the end positions of the weave.
bool
Weave Sync On
Default value: FALSE
Specifies the stop mode at weld errors. The following
stop modes are available:
•
Smooth Stop On Path (0)
•
Quick Stop On Path (1)
•
Emergency Stop (2)
The default stop mode is Smooth Stop On Path (0) . This
is used in all RobotWare releases previous to 6.09.
num
Stop Mode
Quick Stop On Path (1) stops the robot faster than
Smooth Stop On Path (0) and should be used in com-
bination with the Production Monitoring option to get
more accurate seam length calculations.
Emergency Stop (2) is the fastest stop, but the path
might not be followed in this case.
Note
Scaling between a logical and a physical value on an analog output signal, is
always expressed in m/s. The units in the RAPID code is always SI_UNITS, the
settings above is used only by the RobotWare Arc operator interface for
converting to the above units in the user interface.
Units and values
The units in the RAPID code is always mm and mm/s. The conversion to the
specified units is made in the RobotWare Arc User Interface.
The unit settings available in the Arc System Properties apply to the presentation
of data in the Program Data window and to the RW Arc tuning window.
The wirefeed component of welddata is always converted from mm/s to m/s
before sending the value to the Analog Output.
The chart below shows how to calculate -MaxLog in EIO.cfg when -MaxPhys 10
and the wfeed unit has a maximum speed of 22 m/min. It is valid for all power
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8 System parameters
8.2.2 The type Arc System Properties
Continued
source options except 650-9 FroniusTPS4000/5000 where the wirefeed speed is
not converted to m/s. (For more information, see Application manual - Fronius TPS
4000/5000 IRC5 Interface .)
WELD_UNITS
-MaxLog
-MaxLog = 100*1000/60*1000 = 1.67
% (100 max)
100
Max value in Program Data
100*1000/60 = 1666.67
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22 (m/min)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
US_UNITS
-MaxLog
-MaxLog = 100*25.4/60*1000 = 0.0423
% (100 max)
100
Max value in Program Data
100*25.4/60 = 42.3
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/25.4 = 866.141 (ipm)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
SI_UNITS
-MaxLog
-MaxLog = 100/1000 = 0.1
% (100 max)
100
Max value in Program Data
100
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/60 = 367 (mm/s)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
Example 1
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 22 (m/min)
Value in the RAPID code: 367 (mm/s)
Value on the wirefeed Analog Output: 0.367 V
Example 2
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 100 (%)
Value in the RAPID code: 1667 (*)
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8 System parameters
8.2.2 The type Arc System Properties
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Note
Data type
Parameter
The time (in seconds) it takes for a complete weave
cycle for a scrape start.
num
Scrape Cycle Time
Default value: 0.2
Specifies whether the move delay specified in seamdata
is to be used from the time the arc is considered stable
at ignition until the heating phase is started.
bool
Ignition Move Delay
On
Default value: FALSE
Specifies the time-out time for no motion. When all
conditions are fulfilled for starting the motion, this timer
starts.
num
Motion Timeout
This is useful in MultiMove systems when for example
one of two robots is ready to start the weld and the
other one is trying to ignite. The motion time-out on the
first robot will then cause an error,
CAP_MOV_WATCHDOG, that will stop all motion in the
system.
If the parameter is set to 0 there is no time-out.
Default value: 1
Specifies whether synchronization pulses are to be sent
at the end positions of the weave.
bool
Weave Sync On
Default value: FALSE
Specifies the stop mode at weld errors. The following
stop modes are available:
•
Smooth Stop On Path (0)
•
Quick Stop On Path (1)
•
Emergency Stop (2)
The default stop mode is Smooth Stop On Path (0) . This
is used in all RobotWare releases previous to 6.09.
num
Stop Mode
Quick Stop On Path (1) stops the robot faster than
Smooth Stop On Path (0) and should be used in com-
bination with the Production Monitoring option to get
more accurate seam length calculations.
Emergency Stop (2) is the fastest stop, but the path
might not be followed in this case.
Note
Scaling between a logical and a physical value on an analog output signal, is
always expressed in m/s. The units in the RAPID code is always SI_UNITS, the
settings above is used only by the RobotWare Arc operator interface for
converting to the above units in the user interface.
Units and values
The units in the RAPID code is always mm and mm/s. The conversion to the
specified units is made in the RobotWare Arc User Interface.
The unit settings available in the Arc System Properties apply to the presentation
of data in the Program Data window and to the RW Arc tuning window.
The wirefeed component of welddata is always converted from mm/s to m/s
before sending the value to the Analog Output.
The chart below shows how to calculate -MaxLog in EIO.cfg when -MaxPhys 10
and the wfeed unit has a maximum speed of 22 m/min. It is valid for all power
Continues on next page
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8 System parameters
8.2.2 The type Arc System Properties
Continued
source options except 650-9 FroniusTPS4000/5000 where the wirefeed speed is
not converted to m/s. (For more information, see Application manual - Fronius TPS
4000/5000 IRC5 Interface .)
WELD_UNITS
-MaxLog
-MaxLog = 100*1000/60*1000 = 1.67
% (100 max)
100
Max value in Program Data
100*1000/60 = 1666.67
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22 (m/min)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
US_UNITS
-MaxLog
-MaxLog = 100*25.4/60*1000 = 0.0423
% (100 max)
100
Max value in Program Data
100*25.4/60 = 42.3
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/25.4 = 866.141 (ipm)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
SI_UNITS
-MaxLog
-MaxLog = 100/1000 = 0.1
% (100 max)
100
Max value in Program Data
100
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/60 = 367 (mm/s)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
Example 1
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 22 (m/min)
Value in the RAPID code: 367 (mm/s)
Value on the wirefeed Analog Output: 0.367 V
Example 2
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 100 (%)
Value in the RAPID code: 1667 (*)
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8 System parameters
8.2.2 The type Arc System Properties
Continued
Value on the wirefeed Analog Output: 1.67 V
The * indicates that the % value is converted according to WELD_UNITS, which in
this case does not give a very useful value. Therefore, if wirefeed is expressed as
%, we recommend using SI_UNITS.
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8 System parameters
8.2.2 The type Arc System Properties
Continued
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source options except 650-9 FroniusTPS4000/5000 where the wirefeed speed is
not converted to m/s. (For more information, see Application manual - Fronius TPS
4000/5000 IRC5 Interface .)
WELD_UNITS
-MaxLog
-MaxLog = 100*1000/60*1000 = 1.67
% (100 max)
100
Max value in Program Data
100*1000/60 = 1666.67
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22 (m/min)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
US_UNITS
-MaxLog
-MaxLog = 100*25.4/60*1000 = 0.0423
% (100 max)
100
Max value in Program Data
100*25.4/60 = 42.3
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/25.4 = 866.141 (ipm)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
SI_UNITS
-MaxLog
-MaxLog = 100/1000 = 0.1
% (100 max)
100
Max value in Program Data
100
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/60 = 367 (mm/s)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
Example 1
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 22 (m/min)
Value in the RAPID code: 367 (mm/s)
Value on the wirefeed Analog Output: 0.367 V
Example 2
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 100 (%)
Value in the RAPID code: 1667 (*)
Continues on next page
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8 System parameters
8.2.2 The type Arc System Properties
Continued
Value on the wirefeed Analog Output: 1.67 V
The * indicates that the % value is converted according to WELD_UNITS, which in
this case does not give a very useful value. Therefore, if wirefeed is expressed as
%, we recommend using SI_UNITS.
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8 System parameters
8.2.2 The type Arc System Properties
Continued
8.2.3 The type Arc Robot Properties
Description
The Arc Robot Properties holds parameters that specifies the behavior for the
individual robots.
The parameter values are active when running in independent motion. In
synchronized motion, the parameters in Arc System Properties are used.
Parameters
Note
Data type
Parameter
The name of the Arc Robot Properties .
string
Name
The arc units used by the arc system.
string
Units
These settings are used by the [RobotWare Arc operator
interface.
Specifies whether the weld is to be restarted in the event
of a welding error. This restart can be done in three
different ways:
•
Automatically: as many times as specified in the
parameter Number of Retries
•
Program controlled: using the error handler for
the routine
•
Manually: when the error has been remedied,
the program can be started in the normal way
If Restart On is set, the robot automatically reverses to
a position as specified in the parameter Restart Dis-
tance .
bool
Restart On
Default value: FALSE
The distance that the robot reverses on the current seam
relative to the position where it was interrupted.
num
Restart Distance
Default value: 0
The number of automatic restart attempts per seam at
welding interrupt.
num
Number Of Retries
Default value: 0
Specifies if the robot is to weave at the actual weld start
(scrape start). The scrape types are specified in seam-
data.
bool
Scrape On
This weaving is automatically interrupted when the arc
is ignited.
This parameter does not influence the behavior at re-
start.
Default value: FALSE
Specifies scrape type at weld restart. The scrape types
are specified in seamdata.
bool
Scrape Optional On
If parameter is reset (OFF), there will be ‘Weave scrape’
at restart.
Default value: TRUE
The width of the weave pattern for a scrape start.
num
Scrape Width
Default value: 10
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8 System parameters
8.2.3 The type Arc Robot Properties
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Value on the wirefeed Analog Output: 1.67 V
The * indicates that the % value is converted according to WELD_UNITS, which in
this case does not give a very useful value. Therefore, if wirefeed is expressed as
%, we recommend using SI_UNITS.
Application manual - Arc and Arc Sensor
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© Copyright 2004-2024 ABB. All rights reserved.
8 System parameters
8.2.2 The type Arc System Properties
Continued
8.2.3 The type Arc Robot Properties
Description
The Arc Robot Properties holds parameters that specifies the behavior for the
individual robots.
The parameter values are active when running in independent motion. In
synchronized motion, the parameters in Arc System Properties are used.
Parameters
Note
Data type
Parameter
The name of the Arc Robot Properties .
string
Name
The arc units used by the arc system.
string
Units
These settings are used by the [RobotWare Arc operator
interface.
Specifies whether the weld is to be restarted in the event
of a welding error. This restart can be done in three
different ways:
•
Automatically: as many times as specified in the
parameter Number of Retries
•
Program controlled: using the error handler for
the routine
•
Manually: when the error has been remedied,
the program can be started in the normal way
If Restart On is set, the robot automatically reverses to
a position as specified in the parameter Restart Dis-
tance .
bool
Restart On
Default value: FALSE
The distance that the robot reverses on the current seam
relative to the position where it was interrupted.
num
Restart Distance
Default value: 0
The number of automatic restart attempts per seam at
welding interrupt.
num
Number Of Retries
Default value: 0
Specifies if the robot is to weave at the actual weld start
(scrape start). The scrape types are specified in seam-
data.
bool
Scrape On
This weaving is automatically interrupted when the arc
is ignited.
This parameter does not influence the behavior at re-
start.
Default value: FALSE
Specifies scrape type at weld restart. The scrape types
are specified in seamdata.
bool
Scrape Optional On
If parameter is reset (OFF), there will be ‘Weave scrape’
at restart.
Default value: TRUE
The width of the weave pattern for a scrape start.
num
Scrape Width
Default value: 10
Continues on next page
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8 System parameters
8.2.3 The type Arc Robot Properties
Note
Data type
Parameter
The angle of direction of the weave for a scrape start.
It is specified in degrees, where 0 degrees implies a
weave that is carried out at a 90 degrees angle to the
direction of the weld.
num
Scrape Direction
Default value: 0
The time (in seconds) it takes for a complete weave
cycle for a scrape start.
num
Scrape Cycle Time
Default value: 0.2
Specifies whether the move delay specified in seamdata
is to be used from the time the arc is considered stable
at ignition until the heating phase is started.
bool
Ignition Move Delay
On
Default value: FALSE
Specifies the timeout time for no motion. When all con-
ditions are fulfilled for starting the motion, this timer
starts.
num
Motion Timeout
This is useful in MultiMove systems when for example
one of two robots is ready to start the weld and the
other one is trying to ignite. The motion timeout on the
first robot will then cause an error,
CAP_MOV_WATCHDOG, that will stop all motion in the
system.
If the parameter is set to 0 there is no timeout.
Default value: 1
Specifies whether synchronisation pulses are to be sent
at the end positions of the weave.
bool
Weave Sync On
Default value: FALSE
Specifies the stop mode at weld errors. The following
stop modes are available:
•
Smooth Stop On Path (0)
•
Quick Stop On Path (1)
•
Emergency Stop (2)
The default stop mode is Smooth Stop On Path (0) . This
is used in all RobotWare releases previous to 6.09.
num
Stop Mode
Quick Stop On Path (1) stops the robot faster than
Smooth Stop On Path (0) and should be used in com-
bination with the Production Monitoring option to get
more accurate seam length calculations.
Emergency Stop (2) is the fastest stop, but the path
might not be followed in this case.
Note
Scaling between a logical and a physical value on an analog output signal, is
always expressed in m/s. The units in the RAPID code is always SI_UNITS, the
settings above is used only by the RobotWare Arc operator interface for
converting to the above units in the user interface.
Units and values
The units in the RAPID code is always mm and mm/s. The conversion to the
specified units is made in the RobotWare Arc User Interface.
The unit settings available in the Arc System Properties apply to the presentation
of data in the Program Data window and to the RW Arc tuning window.
Continues on next page
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
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8.2.3 The type Arc Robot Properties
Description
The Arc Robot Properties holds parameters that specifies the behavior for the
individual robots.
The parameter values are active when running in independent motion. In
synchronized motion, the parameters in Arc System Properties are used.
Parameters
Note
Data type
Parameter
The name of the Arc Robot Properties .
string
Name
The arc units used by the arc system.
string
Units
These settings are used by the [RobotWare Arc operator
interface.
Specifies whether the weld is to be restarted in the event
of a welding error. This restart can be done in three
different ways:
•
Automatically: as many times as specified in the
parameter Number of Retries
•
Program controlled: using the error handler for
the routine
•
Manually: when the error has been remedied,
the program can be started in the normal way
If Restart On is set, the robot automatically reverses to
a position as specified in the parameter Restart Dis-
tance .
bool
Restart On
Default value: FALSE
The distance that the robot reverses on the current seam
relative to the position where it was interrupted.
num
Restart Distance
Default value: 0
The number of automatic restart attempts per seam at
welding interrupt.
num
Number Of Retries
Default value: 0
Specifies if the robot is to weave at the actual weld start
(scrape start). The scrape types are specified in seam-
data.
bool
Scrape On
This weaving is automatically interrupted when the arc
is ignited.
This parameter does not influence the behavior at re-
start.
Default value: FALSE
Specifies scrape type at weld restart. The scrape types
are specified in seamdata.
bool
Scrape Optional On
If parameter is reset (OFF), there will be ‘Weave scrape’
at restart.
Default value: TRUE
The width of the weave pattern for a scrape start.
num
Scrape Width
Default value: 10
Continues on next page
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8 System parameters
8.2.3 The type Arc Robot Properties
Note
Data type
Parameter
The angle of direction of the weave for a scrape start.
It is specified in degrees, where 0 degrees implies a
weave that is carried out at a 90 degrees angle to the
direction of the weld.
num
Scrape Direction
Default value: 0
The time (in seconds) it takes for a complete weave
cycle for a scrape start.
num
Scrape Cycle Time
Default value: 0.2
Specifies whether the move delay specified in seamdata
is to be used from the time the arc is considered stable
at ignition until the heating phase is started.
bool
Ignition Move Delay
On
Default value: FALSE
Specifies the timeout time for no motion. When all con-
ditions are fulfilled for starting the motion, this timer
starts.
num
Motion Timeout
This is useful in MultiMove systems when for example
one of two robots is ready to start the weld and the
other one is trying to ignite. The motion timeout on the
first robot will then cause an error,
CAP_MOV_WATCHDOG, that will stop all motion in the
system.
If the parameter is set to 0 there is no timeout.
Default value: 1
Specifies whether synchronisation pulses are to be sent
at the end positions of the weave.
bool
Weave Sync On
Default value: FALSE
Specifies the stop mode at weld errors. The following
stop modes are available:
•
Smooth Stop On Path (0)
•
Quick Stop On Path (1)
•
Emergency Stop (2)
The default stop mode is Smooth Stop On Path (0) . This
is used in all RobotWare releases previous to 6.09.
num
Stop Mode
Quick Stop On Path (1) stops the robot faster than
Smooth Stop On Path (0) and should be used in com-
bination with the Production Monitoring option to get
more accurate seam length calculations.
Emergency Stop (2) is the fastest stop, but the path
might not be followed in this case.
Note
Scaling between a logical and a physical value on an analog output signal, is
always expressed in m/s. The units in the RAPID code is always SI_UNITS, the
settings above is used only by the RobotWare Arc operator interface for
converting to the above units in the user interface.
Units and values
The units in the RAPID code is always mm and mm/s. The conversion to the
specified units is made in the RobotWare Arc User Interface.
The unit settings available in the Arc System Properties apply to the presentation
of data in the Program Data window and to the RW Arc tuning window.
Continues on next page
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209
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© Copyright 2004-2024 ABB. All rights reserved.
8 System parameters
8.2.3 The type Arc Robot Properties
Continued
The Wirefeed component of welddata is always converted from mm/s to m/s before
sending the value to the Analog Output.
The chart below shows how to calculate -MaxLog in EIO.cfg when -MaxPhys 10
and the wfeed unit has a maximum speed of 22 m/min. It is valid for all Powersource
options except 650-9 FroniusTPS4000/5000 where the wirefeed speed is not
converted to m/s. (See Fronius TPS 4000/5000 IRC5 Interface doc for more
information.)
WELD_UNITS
-MaxLog
-MaxLog = 100*1000/60*1000 = 1.67
% (100 max)
100
Max value in Program Data
100*1000/60 = 1666.67
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22 (m/min)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
US_UNITS
-MaxLog
-MaxLog = 100*25.4/60*1000 = 0.0423
% (100 max)
100
Max value in Program Data
100*25.4/60 = 42.3
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/25.4 = 866.141 (ipm)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
SI_UNITS
-MaxLog
-MaxLog = 100/1000 = 0.1
% (100 max)
100
Max value in Program Data
100
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/60 = 367 (mm/s)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
Example 1
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 22 (m/min)
Value in the RAPID code: 367 (mm/s)
Value on the wirefeed Analog Output: 0.367 V
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8 System parameters
8.2.3 The type Arc Robot Properties
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Note
Data type
Parameter
The angle of direction of the weave for a scrape start.
It is specified in degrees, where 0 degrees implies a
weave that is carried out at a 90 degrees angle to the
direction of the weld.
num
Scrape Direction
Default value: 0
The time (in seconds) it takes for a complete weave
cycle for a scrape start.
num
Scrape Cycle Time
Default value: 0.2
Specifies whether the move delay specified in seamdata
is to be used from the time the arc is considered stable
at ignition until the heating phase is started.
bool
Ignition Move Delay
On
Default value: FALSE
Specifies the timeout time for no motion. When all con-
ditions are fulfilled for starting the motion, this timer
starts.
num
Motion Timeout
This is useful in MultiMove systems when for example
one of two robots is ready to start the weld and the
other one is trying to ignite. The motion timeout on the
first robot will then cause an error,
CAP_MOV_WATCHDOG, that will stop all motion in the
system.
If the parameter is set to 0 there is no timeout.
Default value: 1
Specifies whether synchronisation pulses are to be sent
at the end positions of the weave.
bool
Weave Sync On
Default value: FALSE
Specifies the stop mode at weld errors. The following
stop modes are available:
•
Smooth Stop On Path (0)
•
Quick Stop On Path (1)
•
Emergency Stop (2)
The default stop mode is Smooth Stop On Path (0) . This
is used in all RobotWare releases previous to 6.09.
num
Stop Mode
Quick Stop On Path (1) stops the robot faster than
Smooth Stop On Path (0) and should be used in com-
bination with the Production Monitoring option to get
more accurate seam length calculations.
Emergency Stop (2) is the fastest stop, but the path
might not be followed in this case.
Note
Scaling between a logical and a physical value on an analog output signal, is
always expressed in m/s. The units in the RAPID code is always SI_UNITS, the
settings above is used only by the RobotWare Arc operator interface for
converting to the above units in the user interface.
Units and values
The units in the RAPID code is always mm and mm/s. The conversion to the
specified units is made in the RobotWare Arc User Interface.
The unit settings available in the Arc System Properties apply to the presentation
of data in the Program Data window and to the RW Arc tuning window.
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
The Wirefeed component of welddata is always converted from mm/s to m/s before
sending the value to the Analog Output.
The chart below shows how to calculate -MaxLog in EIO.cfg when -MaxPhys 10
and the wfeed unit has a maximum speed of 22 m/min. It is valid for all Powersource
options except 650-9 FroniusTPS4000/5000 where the wirefeed speed is not
converted to m/s. (See Fronius TPS 4000/5000 IRC5 Interface doc for more
information.)
WELD_UNITS
-MaxLog
-MaxLog = 100*1000/60*1000 = 1.67
% (100 max)
100
Max value in Program Data
100*1000/60 = 1666.67
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22 (m/min)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
US_UNITS
-MaxLog
-MaxLog = 100*25.4/60*1000 = 0.0423
% (100 max)
100
Max value in Program Data
100*25.4/60 = 42.3
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/25.4 = 866.141 (ipm)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
SI_UNITS
-MaxLog
-MaxLog = 100/1000 = 0.1
% (100 max)
100
Max value in Program Data
100
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/60 = 367 (mm/s)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
Example 1
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 22 (m/min)
Value in the RAPID code: 367 (mm/s)
Value on the wirefeed Analog Output: 0.367 V
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
Example 2
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 100 (%)
Value in the RAPID code: 1667 (*)
Value on the wirefeed Analog Output: 1.67 V
The * indicates that the % value is converted according to WELD_UNITS, which in
this case does not give a very useful value. Therefore, if wirefeed is expressed as
%, it is recommended to use SI_UNITS.
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
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The Wirefeed component of welddata is always converted from mm/s to m/s before
sending the value to the Analog Output.
The chart below shows how to calculate -MaxLog in EIO.cfg when -MaxPhys 10
and the wfeed unit has a maximum speed of 22 m/min. It is valid for all Powersource
options except 650-9 FroniusTPS4000/5000 where the wirefeed speed is not
converted to m/s. (See Fronius TPS 4000/5000 IRC5 Interface doc for more
information.)
WELD_UNITS
-MaxLog
-MaxLog = 100*1000/60*1000 = 1.67
% (100 max)
100
Max value in Program Data
100*1000/60 = 1666.67
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22 (m/min)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
US_UNITS
-MaxLog
-MaxLog = 100*25.4/60*1000 = 0.0423
% (100 max)
100
Max value in Program Data
100*25.4/60 = 42.3
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/25.4 = 866.141 (ipm)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
SI_UNITS
-MaxLog
-MaxLog = 100/1000 = 0.1
% (100 max)
100
Max value in Program Data
100
Max value in RAPID code
-MaxLog = 22/60 = 0.367
wfspeed (22m/min max)
22*1000/60 = 367 (mm/s)
Max value in Program Data
22*1000/60 = 367 (mm/s)
Max value in RAPID code
Example 1
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 22 (m/min)
Value in the RAPID code: 367 (mm/s)
Value on the wirefeed Analog Output: 0.367 V
Continues on next page
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
Example 2
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 100 (%)
Value in the RAPID code: 1667 (*)
Value on the wirefeed Analog Output: 1.67 V
The * indicates that the % value is converted according to WELD_UNITS, which in
this case does not give a very useful value. Therefore, if wirefeed is expressed as
%, it is recommended to use SI_UNITS.
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
8.2.4 The type Arc Units
Description
The Arc Units type holds parameters that specifies the units used for the Arc System
Properties . It is possible to define custom units based on the speed, length and
wirefeed attributes shown in the following table.
Note
Data type
Parameter
The available length units are:
•
mm
•
inch
string
Arc Length unit
The available velocity units are:
•
mm/s
•
m/min
•
ipm
•
cm/min
string
Arc Velocity unit
The available feed units are:
•
mm/s
•
m/min
•
ipm
string
Arc Feed unit
RobotWare Arc provides three different predefined units: SI_UNITS, US_UNITS
and WELD_UNITS. These units are write protected in the configuration database.
Note
For the standard I/O welder it is possible to use different units for wire feed speed .
For all other power sources check in the respective user manual.
Parameters
Wirefeed
Length
Speed
Unit string
mm/s
mm
mm/s
SI_UNITS
ipm
inch
ipm
US_UNITS
m/min
mm
mm/s
WELD_UNITS
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8.2.4 The type Arc Units
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Example 2
WELD_UNITS is used.
Max speed for the wirefeeder is 22 (m/min)
Max speed in the Program Data window: 100 (%)
Value in the RAPID code: 1667 (*)
Value on the wirefeed Analog Output: 1.67 V
The * indicates that the % value is converted according to WELD_UNITS, which in
this case does not give a very useful value. Therefore, if wirefeed is expressed as
%, it is recommended to use SI_UNITS.
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8 System parameters
8.2.3 The type Arc Robot Properties
Continued
8.2.4 The type Arc Units
Description
The Arc Units type holds parameters that specifies the units used for the Arc System
Properties . It is possible to define custom units based on the speed, length and
wirefeed attributes shown in the following table.
Note
Data type
Parameter
The available length units are:
•
mm
•
inch
string
Arc Length unit
The available velocity units are:
•
mm/s
•
m/min
•
ipm
•
cm/min
string
Arc Velocity unit
The available feed units are:
•
mm/s
•
m/min
•
ipm
string
Arc Feed unit
RobotWare Arc provides three different predefined units: SI_UNITS, US_UNITS
and WELD_UNITS. These units are write protected in the configuration database.
Note
For the standard I/O welder it is possible to use different units for wire feed speed .
For all other power sources check in the respective user manual.
Parameters
Wirefeed
Length
Speed
Unit string
mm/s
mm
mm/s
SI_UNITS
ipm
inch
ipm
US_UNITS
m/min
mm
mm/s
WELD_UNITS
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8 System parameters
8.2.4 The type Arc Units
8.2.5 The type Arc Equipment
Description
The Arc Equipment holds parameters for the equipment.
Parameters
Note
Data type
Default value
Parameter
The name of the Arc Equipment .
string
ARC1_EQUIP_T_ROB1
Name
These names must not be
changed.
ARC1_EQUIP_T_ROB1 for Sys-
tem1 in T_ROB1
ARC1_EQUIP_T_ROB2 for Sys-
tem1 in T_ROB2
ARC1_EQUIP_T_ROB3 for Sys-
tem1 in T_ROB3
ARC1_EQUIP_T_ROB4 for Sys-
tem1 in T_ROB4
The name of the welder type.
string
StandardIO
Welder Type
In which robot the equipment is
loaded.
string
T_ROB1
Loaded In Robot
The arc equipment class used by
the arc equipment.
string
stdIO_T_ROB1
Use Arc Equipment
Class
The arc equipment properties
used by the arc equipment.
string
stdIO_T_ROB1
Use Arc Equipment
Properties
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8.2.5 The type Arc Equipment
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8.2.4 The type Arc Units
Description
The Arc Units type holds parameters that specifies the units used for the Arc System
Properties . It is possible to define custom units based on the speed, length and
wirefeed attributes shown in the following table.
Note
Data type
Parameter
The available length units are:
•
mm
•
inch
string
Arc Length unit
The available velocity units are:
•
mm/s
•
m/min
•
ipm
•
cm/min
string
Arc Velocity unit
The available feed units are:
•
mm/s
•
m/min
•
ipm
string
Arc Feed unit
RobotWare Arc provides three different predefined units: SI_UNITS, US_UNITS
and WELD_UNITS. These units are write protected in the configuration database.
Note
For the standard I/O welder it is possible to use different units for wire feed speed .
For all other power sources check in the respective user manual.
Parameters
Wirefeed
Length
Speed
Unit string
mm/s
mm
mm/s
SI_UNITS
ipm
inch
ipm
US_UNITS
m/min
mm
mm/s
WELD_UNITS
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8 System parameters
8.2.4 The type Arc Units
8.2.5 The type Arc Equipment
Description
The Arc Equipment holds parameters for the equipment.
Parameters
Note
Data type
Default value
Parameter
The name of the Arc Equipment .
string
ARC1_EQUIP_T_ROB1
Name
These names must not be
changed.
ARC1_EQUIP_T_ROB1 for Sys-
tem1 in T_ROB1
ARC1_EQUIP_T_ROB2 for Sys-
tem1 in T_ROB2
ARC1_EQUIP_T_ROB3 for Sys-
tem1 in T_ROB3
ARC1_EQUIP_T_ROB4 for Sys-
tem1 in T_ROB4
The name of the welder type.
string
StandardIO
Welder Type
In which robot the equipment is
loaded.
string
T_ROB1
Loaded In Robot
The arc equipment class used by
the arc equipment.
string
stdIO_T_ROB1
Use Arc Equipment
Class
The arc equipment properties
used by the arc equipment.
string
stdIO_T_ROB1
Use Arc Equipment
Properties
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8 System parameters
8.2.5 The type Arc Equipment
8.2.6 The type Arc Equipment Class
Description
The Arc Equipment Class holds parameters for the equipment class.
Parameters
Note
Data type
Default value
Parameter
The name of the Arc Equipment
Class .
string
stdIO_T_ROB1
Name
The name of the EquipmentClass
module to load.
string
awEquipSTD
Equipment Class File
Name
The path to the equipment class.
string
RELEASE:/op-
tions/arc/WeldEquip-
ment
Path
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8 System parameters
8.2.6 The type Arc Equipment Class
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8.2.5 The type Arc Equipment
Description
The Arc Equipment holds parameters for the equipment.
Parameters
Note
Data type
Default value
Parameter
The name of the Arc Equipment .
string
ARC1_EQUIP_T_ROB1
Name
These names must not be
changed.
ARC1_EQUIP_T_ROB1 for Sys-
tem1 in T_ROB1
ARC1_EQUIP_T_ROB2 for Sys-
tem1 in T_ROB2
ARC1_EQUIP_T_ROB3 for Sys-
tem1 in T_ROB3
ARC1_EQUIP_T_ROB4 for Sys-
tem1 in T_ROB4
The name of the welder type.
string
StandardIO
Welder Type
In which robot the equipment is
loaded.
string
T_ROB1
Loaded In Robot
The arc equipment class used by
the arc equipment.
string
stdIO_T_ROB1
Use Arc Equipment
Class
The arc equipment properties
used by the arc equipment.
string
stdIO_T_ROB1
Use Arc Equipment
Properties
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8 System parameters
8.2.5 The type Arc Equipment
8.2.6 The type Arc Equipment Class
Description
The Arc Equipment Class holds parameters for the equipment class.
Parameters
Note
Data type
Default value
Parameter
The name of the Arc Equipment
Class .
string
stdIO_T_ROB1
Name
The name of the EquipmentClass
module to load.
string
awEquipSTD
Equipment Class File
Name
The path to the equipment class.
string
RELEASE:/op-
tions/arc/WeldEquip-
ment
Path
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8 System parameters
8.2.6 The type Arc Equipment Class
8.3 The group Generic Equipment Class
8.3.1 The type Arc Equipment Properties
Description
The Arc Equipment Properties holds parameters for the equipment class.
Parameters
The following parameters can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Properties .
string
Name
The Arc Equipment IO DI used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO DI
The Arc Equipment IO DO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO DO
The Arc Equipment IO AO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO AO
The Arc Equipment IO AI used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO AI
The Arc Equipment IO GO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO GO
Specifies whether preconditions is to be used.
bool
Preconditions On
If precond is on, the gas, torch and water supervision
signals are verified before welding is started.
Default value: FALSE
If ignition data is defined, Component group : Ignition in
seamdata ( seamdata - Seam data on page 176 ) is
available.
bool
Ignition On
Specifies if ignition data specified in seamdata is to be
used at the start of the weld phase. At the start it is often
beneficial to define higher weld data values for a better
ignition.
If the ignition data parameter is changed, the contents
of seamdata will also change.
Default value: FALSE
If ignition data is defined, Component group : Heat in
seamdata ( seamdata - Seam data on page 176 ) is
available.
bool
Heat On
When the arc is ignited, the seam will generally not have
reached the correct temperature. Preheating can thus
be used at the start of the weld to define higher weld
data values. If the preheating parameter is changed,
the contents of seamdata will also change.
Default value: FALSE
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8 System parameters
8.3.1 The type Arc Equipment Properties
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8.2.6 The type Arc Equipment Class
Description
The Arc Equipment Class holds parameters for the equipment class.
Parameters
Note
Data type
Default value
Parameter
The name of the Arc Equipment
Class .
string
stdIO_T_ROB1
Name
The name of the EquipmentClass
module to load.
string
awEquipSTD
Equipment Class File
Name
The path to the equipment class.
string
RELEASE:/op-
tions/arc/WeldEquip-
ment
Path
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8 System parameters
8.2.6 The type Arc Equipment Class
8.3 The group Generic Equipment Class
8.3.1 The type Arc Equipment Properties
Description
The Arc Equipment Properties holds parameters for the equipment class.
Parameters
The following parameters can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Properties .
string
Name
The Arc Equipment IO DI used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO DI
The Arc Equipment IO DO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO DO
The Arc Equipment IO AO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO AO
The Arc Equipment IO AI used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO AI
The Arc Equipment IO GO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO GO
Specifies whether preconditions is to be used.
bool
Preconditions On
If precond is on, the gas, torch and water supervision
signals are verified before welding is started.
Default value: FALSE
If ignition data is defined, Component group : Ignition in
seamdata ( seamdata - Seam data on page 176 ) is
available.
bool
Ignition On
Specifies if ignition data specified in seamdata is to be
used at the start of the weld phase. At the start it is often
beneficial to define higher weld data values for a better
ignition.
If the ignition data parameter is changed, the contents
of seamdata will also change.
Default value: FALSE
If ignition data is defined, Component group : Heat in
seamdata ( seamdata - Seam data on page 176 ) is
available.
bool
Heat On
When the arc is ignited, the seam will generally not have
reached the correct temperature. Preheating can thus
be used at the start of the weld to define higher weld
data values. If the preheating parameter is changed,
the contents of seamdata will also change.
Default value: FALSE
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8 System parameters
8.3.1 The type Arc Equipment Properties
Note
Data type
Parameter
Specifies whether a crater fill is to be used in the final
phase. This means that the end crater that can form in
the completed weld will be filled in with extra filler ma-
terial. Exactly how the crater fill is to be carried out is
described in seamdata - Seam data on page 176 . If the
Crater fill parameter is changed, the contents of seam-
data will also change.
bool
Fill On
Default value: FALSE
Specifies whether burnback as defined in seamdata is
to be used in the final phase. It is used in MIG/MAG
welding and means that the power supply switches on
for a short while after the electrode feed has been turned
off. The end of the weld electrode is then melted and
transferred to the molten metal in the weld deposit. In
this way, the electrode will separate from the molten
metal and not stick to it when it starts to harden. Exactly
how the burnback is to be carried out is described in
seamdata - Seam data on page 176 .
bool
Burnback On
If the Burnback parameter is changed, the contents of
seamdata will also change. If burnback is set,
bback_time in seamdata ( seamdata - Seam data on
page 176 ) is available.
If both, burnback and burnback voltage, are set,
bback_voltage in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
Specifies whether a specific burnback voltage should
be used in the burnback phase. If not specified, burn-
back will be performed with the voltage used in the
previous welding phase.
bool
Burnback Voltage
On
If the Burnback voltage parameter is changed, the con-
tents of seamdata will also change.
If both, burnback and burnback voltage, are set,
bback_voltage in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
Specifies whether rollback is to be used in the final
phase. It is used in TIG welding and means that the cold
wire is reversed before the molten metal hardens, to
prevent the wire sticking. Exactly how the rollback is to
be carried out is described in seamdata.
bool
Rollback On
If the Rollback parameter is changed, the contents of
seamdata will also change.
If rollback is set, rback_time in seamdata ( seamdata
- Seam data on page 176 ) is available.
If both, rollback and rollback wirefeed, are set,
rback_wirefeed in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
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8.3 The group Generic Equipment Class
8.3.1 The type Arc Equipment Properties
Description
The Arc Equipment Properties holds parameters for the equipment class.
Parameters
The following parameters can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Properties .
string
Name
The Arc Equipment IO DI used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO DI
The Arc Equipment IO DO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO DO
The Arc Equipment IO AO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO AO
The Arc Equipment IO AI used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO AI
The Arc Equipment IO GO used by the Arc Equipment
Properties .
string
Use Arc Equipment
IO GO
Specifies whether preconditions is to be used.
bool
Preconditions On
If precond is on, the gas, torch and water supervision
signals are verified before welding is started.
Default value: FALSE
If ignition data is defined, Component group : Ignition in
seamdata ( seamdata - Seam data on page 176 ) is
available.
bool
Ignition On
Specifies if ignition data specified in seamdata is to be
used at the start of the weld phase. At the start it is often
beneficial to define higher weld data values for a better
ignition.
If the ignition data parameter is changed, the contents
of seamdata will also change.
Default value: FALSE
If ignition data is defined, Component group : Heat in
seamdata ( seamdata - Seam data on page 176 ) is
available.
bool
Heat On
When the arc is ignited, the seam will generally not have
reached the correct temperature. Preheating can thus
be used at the start of the weld to define higher weld
data values. If the preheating parameter is changed,
the contents of seamdata will also change.
Default value: FALSE
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8 System parameters
8.3.1 The type Arc Equipment Properties
Note
Data type
Parameter
Specifies whether a crater fill is to be used in the final
phase. This means that the end crater that can form in
the completed weld will be filled in with extra filler ma-
terial. Exactly how the crater fill is to be carried out is
described in seamdata - Seam data on page 176 . If the
Crater fill parameter is changed, the contents of seam-
data will also change.
bool
Fill On
Default value: FALSE
Specifies whether burnback as defined in seamdata is
to be used in the final phase. It is used in MIG/MAG
welding and means that the power supply switches on
for a short while after the electrode feed has been turned
off. The end of the weld electrode is then melted and
transferred to the molten metal in the weld deposit. In
this way, the electrode will separate from the molten
metal and not stick to it when it starts to harden. Exactly
how the burnback is to be carried out is described in
seamdata - Seam data on page 176 .
bool
Burnback On
If the Burnback parameter is changed, the contents of
seamdata will also change. If burnback is set,
bback_time in seamdata ( seamdata - Seam data on
page 176 ) is available.
If both, burnback and burnback voltage, are set,
bback_voltage in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
Specifies whether a specific burnback voltage should
be used in the burnback phase. If not specified, burn-
back will be performed with the voltage used in the
previous welding phase.
bool
Burnback Voltage
On
If the Burnback voltage parameter is changed, the con-
tents of seamdata will also change.
If both, burnback and burnback voltage, are set,
bback_voltage in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
Specifies whether rollback is to be used in the final
phase. It is used in TIG welding and means that the cold
wire is reversed before the molten metal hardens, to
prevent the wire sticking. Exactly how the rollback is to
be carried out is described in seamdata.
bool
Rollback On
If the Rollback parameter is changed, the contents of
seamdata will also change.
If rollback is set, rback_time in seamdata ( seamdata
- Seam data on page 176 ) is available.
If both, rollback and rollback wirefeed, are set,
rback_wirefeed in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
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8.3.1 The type Arc Equipment Properties
Continued
Note
Data type
Parameter
Specifies whether a specific rollback wirefeed speed
should be used in the rollback phase. If not specified,
a wirefeed speed of 10 mm/s will be used.
bool
Rollback Wirefeed
On
If the Rollback wirefeed speed parameter is changed,
the contents of seamdata will also change.
If both, rollback and rollback wirefeed, are set,
rback_wirefeed in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
If this flag is set, weld inhibition will be allowed in AUTO-
mode. Otherwise it is not allowed.
bool
Autoinhibit On
Default value: TRUE
Specifies whether the IRB is a welding IRB. Used by
Arc operator interface.
bool
Welder Robot
Default value: TRUE
Specifies if the heat phase should use the seamdata
parameters heat_time or heat_distance .
bool
Heat as time
TRUE means that heat_time is used and visible in the
seamdata.
FALSE means that heat_distance and heat_speed
is used and visible in the seamdata.
Default value: FALSE
Specifies the visibility of the org value components in
welddata.
bool
Override on
Default value: FALSE
For power sources that keep welder ready active (high),
supervision in the main welding phase can be used. Set
to TRUE to activate.
bool
Welder Ready Su-
pervision On
Default value: FALSE
Type of port used to transfer program data to the weld-
ing equipment:
•
Binary (=1): Binary-coded group of digital output
signals.
•
Pulse (=2): Program numbers are sent in the form
of a number of pulses on the Weldschedule port
signal which should then comprise two digital
signals. They are pulsed in tens on one of the
outputs and in ones on the other.
If Binary, Pulse or CAN is defined, the component
weld_sched in welddata ( welddata - Weld data on
page 195 ) is available.
num
Schedport Type
Default value: 0
Delays the power control signal. This allows the analog
reference signals enough time (in seconds) to stabilize
before the weld is started.
num
Arc Preset
Default value: 0.05
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Note
Data type
Parameter
Specifies whether a crater fill is to be used in the final
phase. This means that the end crater that can form in
the completed weld will be filled in with extra filler ma-
terial. Exactly how the crater fill is to be carried out is
described in seamdata - Seam data on page 176 . If the
Crater fill parameter is changed, the contents of seam-
data will also change.
bool
Fill On
Default value: FALSE
Specifies whether burnback as defined in seamdata is
to be used in the final phase. It is used in MIG/MAG
welding and means that the power supply switches on
for a short while after the electrode feed has been turned
off. The end of the weld electrode is then melted and
transferred to the molten metal in the weld deposit. In
this way, the electrode will separate from the molten
metal and not stick to it when it starts to harden. Exactly
how the burnback is to be carried out is described in
seamdata - Seam data on page 176 .
bool
Burnback On
If the Burnback parameter is changed, the contents of
seamdata will also change. If burnback is set,
bback_time in seamdata ( seamdata - Seam data on
page 176 ) is available.
If both, burnback and burnback voltage, are set,
bback_voltage in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
Specifies whether a specific burnback voltage should
be used in the burnback phase. If not specified, burn-
back will be performed with the voltage used in the
previous welding phase.
bool
Burnback Voltage
On
If the Burnback voltage parameter is changed, the con-
tents of seamdata will also change.
If both, burnback and burnback voltage, are set,
bback_voltage in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
Specifies whether rollback is to be used in the final
phase. It is used in TIG welding and means that the cold
wire is reversed before the molten metal hardens, to
prevent the wire sticking. Exactly how the rollback is to
be carried out is described in seamdata.
bool
Rollback On
If the Rollback parameter is changed, the contents of
seamdata will also change.
If rollback is set, rback_time in seamdata ( seamdata
- Seam data on page 176 ) is available.
If both, rollback and rollback wirefeed, are set,
rback_wirefeed in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
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8 System parameters
8.3.1 The type Arc Equipment Properties
Continued
Note
Data type
Parameter
Specifies whether a specific rollback wirefeed speed
should be used in the rollback phase. If not specified,
a wirefeed speed of 10 mm/s will be used.
bool
Rollback Wirefeed
On
If the Rollback wirefeed speed parameter is changed,
the contents of seamdata will also change.
If both, rollback and rollback wirefeed, are set,
rback_wirefeed in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
If this flag is set, weld inhibition will be allowed in AUTO-
mode. Otherwise it is not allowed.
bool
Autoinhibit On
Default value: TRUE
Specifies whether the IRB is a welding IRB. Used by
Arc operator interface.
bool
Welder Robot
Default value: TRUE
Specifies if the heat phase should use the seamdata
parameters heat_time or heat_distance .
bool
Heat as time
TRUE means that heat_time is used and visible in the
seamdata.
FALSE means that heat_distance and heat_speed
is used and visible in the seamdata.
Default value: FALSE
Specifies the visibility of the org value components in
welddata.
bool
Override on
Default value: FALSE
For power sources that keep welder ready active (high),
supervision in the main welding phase can be used. Set
to TRUE to activate.
bool
Welder Ready Su-
pervision On
Default value: FALSE
Type of port used to transfer program data to the weld-
ing equipment:
•
Binary (=1): Binary-coded group of digital output
signals.
•
Pulse (=2): Program numbers are sent in the form
of a number of pulses on the Weldschedule port
signal which should then comprise two digital
signals. They are pulsed in tens on one of the
outputs and in ones on the other.
If Binary, Pulse or CAN is defined, the component
weld_sched in welddata ( welddata - Weld data on
page 195 ) is available.
num
Schedport Type
Default value: 0
Delays the power control signal. This allows the analog
reference signals enough time (in seconds) to stabilize
before the weld is started.
num
Arc Preset
Default value: 0.05
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8 System parameters
8.3.1 The type Arc Equipment Properties
Continued
Note
Data type
Parameter
The time it takes the welding arc to stabilize at the start
of a weld. The arc is only considered ignited after the
arc supervision signal has been high for arc ok delay
seconds.
Note
The functionality of this parameter is moved to the EIO
domain. To get the same behavior, an active filter must
be defined for the ArcEst digital input signal. The time
is expressed in [ms].
num
Arc OK Delay
The maximum time (in seconds) permitted for igniting
the welding arc.
num
Ignition Timeout
If the parameter is set to 0 there is no timeout.
Default value: 0.9
The maximum time (in seconds) permitted for shutting
off the welding arc.
num
Weld Off Timeout
If the parameter is set to 0 there is no timeout.
Default value: 10
The time in seconds to feed wire. Used by the stickout
button in the RobotWare Arc operator interface. The
default values are adjusted to feed 15 mm wire. If longer
or shorter stickout is wanted, the time can be adjusted
via this parameter.
num
Time to feed 15mm
wire
Default value: 1.1s for AristoMigIntegrated, 0.38s for
MigRob, 1s for Fronius and 0.33 for the other welders.
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Note
Data type
Parameter
Specifies whether a specific rollback wirefeed speed
should be used in the rollback phase. If not specified,
a wirefeed speed of 10 mm/s will be used.
bool
Rollback Wirefeed
On
If the Rollback wirefeed speed parameter is changed,
the contents of seamdata will also change.
If both, rollback and rollback wirefeed, are set,
rback_wirefeed in seamdata ( seamdata - Seam data
on page 176 ) is available.
Default value: FALSE
If this flag is set, weld inhibition will be allowed in AUTO-
mode. Otherwise it is not allowed.
bool
Autoinhibit On
Default value: TRUE
Specifies whether the IRB is a welding IRB. Used by
Arc operator interface.
bool
Welder Robot
Default value: TRUE
Specifies if the heat phase should use the seamdata
parameters heat_time or heat_distance .
bool
Heat as time
TRUE means that heat_time is used and visible in the
seamdata.
FALSE means that heat_distance and heat_speed
is used and visible in the seamdata.
Default value: FALSE
Specifies the visibility of the org value components in
welddata.
bool
Override on
Default value: FALSE
For power sources that keep welder ready active (high),
supervision in the main welding phase can be used. Set
to TRUE to activate.
bool
Welder Ready Su-
pervision On
Default value: FALSE
Type of port used to transfer program data to the weld-
ing equipment:
•
Binary (=1): Binary-coded group of digital output
signals.
•
Pulse (=2): Program numbers are sent in the form
of a number of pulses on the Weldschedule port
signal which should then comprise two digital
signals. They are pulsed in tens on one of the
outputs and in ones on the other.
If Binary, Pulse or CAN is defined, the component
weld_sched in welddata ( welddata - Weld data on
page 195 ) is available.
num
Schedport Type
Default value: 0
Delays the power control signal. This allows the analog
reference signals enough time (in seconds) to stabilize
before the weld is started.
num
Arc Preset
Default value: 0.05
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8 System parameters
8.3.1 The type Arc Equipment Properties
Continued
Note
Data type
Parameter
The time it takes the welding arc to stabilize at the start
of a weld. The arc is only considered ignited after the
arc supervision signal has been high for arc ok delay
seconds.
Note
The functionality of this parameter is moved to the EIO
domain. To get the same behavior, an active filter must
be defined for the ArcEst digital input signal. The time
is expressed in [ms].
num
Arc OK Delay
The maximum time (in seconds) permitted for igniting
the welding arc.
num
Ignition Timeout
If the parameter is set to 0 there is no timeout.
Default value: 0.9
The maximum time (in seconds) permitted for shutting
off the welding arc.
num
Weld Off Timeout
If the parameter is set to 0 there is no timeout.
Default value: 10
The time in seconds to feed wire. Used by the stickout
button in the RobotWare Arc operator interface. The
default values are adjusted to feed 15 mm wire. If longer
or shorter stickout is wanted, the time can be adjusted
via this parameter.
num
Time to feed 15mm
wire
Default value: 1.1s for AristoMigIntegrated, 0.38s for
MigRob, 1s for Fronius and 0.33 for the other welders.
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8 System parameters
8.3.1 The type Arc Equipment Properties
Continued
8.3.2 The type Arc Equipment Digital Inputs
Parameters
The following digital inputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Digital Inputs .
string
Name
Digital input signal for manual wire feed.
signaldi
ManFeedInput
A high signal means that the welding equipment has
manual wire feed enabled.
Digital input signal for program execution without
welding.
signaldi
WeldInhib
A high signal means that welding is inhibited.
Digital input signal for program execution without
weaving.
signaldi
WeaveInhib
A high signal means that weaving is inhibited.
Digital input signal to inhibit tracking (not seen on
FlexPendant). A high signal means that the tracking is
inhibited.
signaldi
TrackInhib
Digital input signal for stopping program execution. This
signal affects arc welding instructions only. A high signal
means that program execution will stop as soon as an
arc welding instruction is executed.
signaldi
StopProc
Digital input signal for supervision of the welding arc.
A high signal means that the welding arc is ignited.
signaldi
ArcEst
This parameter must always be defined.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
ArcEstLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the welding arc in
gun number 2 in a TwinWire setup. A high signal means
that the welding arc is ignited.
signaldi
ArcEst2
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
ArcEst2Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the WelderReady
signal.
signaldi
WelderReady
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WelderReadyLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the weld process.
signaldi
WeldOk
Same signal flow as ArcEst.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WeldOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the voltage.
signaldi
VoltageOk
A high signal means that the voltage is OK.
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Note
Data type
Parameter
The time it takes the welding arc to stabilize at the start
of a weld. The arc is only considered ignited after the
arc supervision signal has been high for arc ok delay
seconds.
Note
The functionality of this parameter is moved to the EIO
domain. To get the same behavior, an active filter must
be defined for the ArcEst digital input signal. The time
is expressed in [ms].
num
Arc OK Delay
The maximum time (in seconds) permitted for igniting
the welding arc.
num
Ignition Timeout
If the parameter is set to 0 there is no timeout.
Default value: 0.9
The maximum time (in seconds) permitted for shutting
off the welding arc.
num
Weld Off Timeout
If the parameter is set to 0 there is no timeout.
Default value: 10
The time in seconds to feed wire. Used by the stickout
button in the RobotWare Arc operator interface. The
default values are adjusted to feed 15 mm wire. If longer
or shorter stickout is wanted, the time can be adjusted
via this parameter.
num
Time to feed 15mm
wire
Default value: 1.1s for AristoMigIntegrated, 0.38s for
MigRob, 1s for Fronius and 0.33 for the other welders.
218
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8 System parameters
8.3.1 The type Arc Equipment Properties
Continued
8.3.2 The type Arc Equipment Digital Inputs
Parameters
The following digital inputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Digital Inputs .
string
Name
Digital input signal for manual wire feed.
signaldi
ManFeedInput
A high signal means that the welding equipment has
manual wire feed enabled.
Digital input signal for program execution without
welding.
signaldi
WeldInhib
A high signal means that welding is inhibited.
Digital input signal for program execution without
weaving.
signaldi
WeaveInhib
A high signal means that weaving is inhibited.
Digital input signal to inhibit tracking (not seen on
FlexPendant). A high signal means that the tracking is
inhibited.
signaldi
TrackInhib
Digital input signal for stopping program execution. This
signal affects arc welding instructions only. A high signal
means that program execution will stop as soon as an
arc welding instruction is executed.
signaldi
StopProc
Digital input signal for supervision of the welding arc.
A high signal means that the welding arc is ignited.
signaldi
ArcEst
This parameter must always be defined.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
ArcEstLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the welding arc in
gun number 2 in a TwinWire setup. A high signal means
that the welding arc is ignited.
signaldi
ArcEst2
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
ArcEst2Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the WelderReady
signal.
signaldi
WelderReady
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WelderReadyLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the weld process.
signaldi
WeldOk
Same signal flow as ArcEst.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WeldOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the voltage.
signaldi
VoltageOk
A high signal means that the voltage is OK.
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
Note
Data type
Parameter
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
VoltageOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the current.
signaldi
CurrentOk
A high signal means that the current is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
CurrentOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the water.
signaldi
WaterOk
A high signal means that the water is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WaterOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the wirefeed. A
high signal means that the wirefeed is OK.
signaldi
WirefeedOk
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WirefeedOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the protective gas.
signaldi
GasOk
A high signal means that the protective gas is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
GasOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the torch.
signaldi
GunOk
A high signal means that the torch is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
GunOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the wire stick
status.
signaldi
WirestickErr
A high signal means that an error has occurred.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WirestickErrLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO1 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO1
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO1Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO2 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO2
A high signal means that the signal is OK.
Continues on next page
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8 System parameters
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8.3.2 The type Arc Equipment Digital Inputs
Parameters
The following digital inputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Digital Inputs .
string
Name
Digital input signal for manual wire feed.
signaldi
ManFeedInput
A high signal means that the welding equipment has
manual wire feed enabled.
Digital input signal for program execution without
welding.
signaldi
WeldInhib
A high signal means that welding is inhibited.
Digital input signal for program execution without
weaving.
signaldi
WeaveInhib
A high signal means that weaving is inhibited.
Digital input signal to inhibit tracking (not seen on
FlexPendant). A high signal means that the tracking is
inhibited.
signaldi
TrackInhib
Digital input signal for stopping program execution. This
signal affects arc welding instructions only. A high signal
means that program execution will stop as soon as an
arc welding instruction is executed.
signaldi
StopProc
Digital input signal for supervision of the welding arc.
A high signal means that the welding arc is ignited.
signaldi
ArcEst
This parameter must always be defined.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
ArcEstLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the welding arc in
gun number 2 in a TwinWire setup. A high signal means
that the welding arc is ignited.
signaldi
ArcEst2
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
ArcEst2Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the WelderReady
signal.
signaldi
WelderReady
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WelderReadyLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the weld process.
signaldi
WeldOk
Same signal flow as ArcEst.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WeldOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the voltage.
signaldi
VoltageOk
A high signal means that the voltage is OK.
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
Note
Data type
Parameter
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
VoltageOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the current.
signaldi
CurrentOk
A high signal means that the current is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
CurrentOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the water.
signaldi
WaterOk
A high signal means that the water is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WaterOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the wirefeed. A
high signal means that the wirefeed is OK.
signaldi
WirefeedOk
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WirefeedOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the protective gas.
signaldi
GasOk
A high signal means that the protective gas is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
GasOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the torch.
signaldi
GunOk
A high signal means that the torch is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
GunOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the wire stick
status.
signaldi
WirestickErr
A high signal means that an error has occurred.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WirestickErrLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO1 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO1
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO1Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO2 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO2
A high signal means that the signal is OK.
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
Continued
Note
Data type
Parameter
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO2Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO3 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO3
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO3Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO4 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO4
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO4Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO5 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO5
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO5Label
See Configurable error handling on page 231 .
Note
If the signals from the arc process equipment are not stable enough, it might be
necessary to filter them. See Topic I/O System section Type Signal in Technical
reference manual - System parameters
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
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Note
Data type
Parameter
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
VoltageOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the current.
signaldi
CurrentOk
A high signal means that the current is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
CurrentOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the water.
signaldi
WaterOk
A high signal means that the water is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WaterOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the wirefeed. A
high signal means that the wirefeed is OK.
signaldi
WirefeedOk
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WirefeedOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the protective gas.
signaldi
GasOk
A high signal means that the protective gas is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
GasOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the torch.
signaldi
GunOk
A high signal means that the torch is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
GunOkLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the wire stick
status.
signaldi
WirestickErr
A high signal means that an error has occurred.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
WirestickErrLabel
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO1 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO1
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO1Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO2 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO2
A high signal means that the signal is OK.
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
Continued
Note
Data type
Parameter
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO2Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO3 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO3
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO3Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO4 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO4
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO4Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO5 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO5
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO5Label
See Configurable error handling on page 231 .
Note
If the signals from the arc process equipment are not stable enough, it might be
necessary to filter them. See Topic I/O System section Type Signal in Technical
reference manual - System parameters
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
Continued
8.3.3 The type Arc Equipment Digital Outputs
Parameters
The following digital outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Digital Outputs .
string
Name
Digital output signal for indication of welding defects.
signaldo
AWError
A high signal means that an error has occurred. If a
normal program stop occurs in the middle of a weld, no
high signal will be generated.
Digital output signal for control of the gas flow.
signaldo
GasOn
A high signal means that the gas flow is active.
Digital output signal for control of the weld voltage.
signaldo
WeldOn
A high signal means that the weld voltage control is
active.
This parameter must always be defined
Digital output signal for indication of RobotReady signal.
signaldo
RobotReady
Digital output signal for activation of the wire feed.
signaldo
FeedOn
A high signal means wirefeed forward.
Digital output signal for backward activation of the wire
feed.
signaldo
FeedOnBwd
A high signal means wirefeed backward.
Digital output signal used for handshaking during data
transfer from the program to the welding equipment.
Used if schedule port type has been defined as Pulse.
signaldo
SchedStrobe
A high signal means that the schedule strobe signal is
used for handshaking during data transfer.
Digital output signal used to indicate that the weld has
been interrupted.
signaldo
ProcessStopped
A high signal means that the weld has been interrupted
either because of a welding defect or because of a
normal program stop.
Digital output signal for indication of welding arc errors.
signaldo
SupervArc
A high signal means that an error has occurred.
Digital output signal for indication of voltage errors.
signaldo
SupervVolt
A high signal means that an error has occurred.
Digital output signal for indication of current errors.
signaldo
SupervCurrent
A high signal means that an error has occurred.
Digital output signal for indication of cooling water er-
rors.
signaldo
SupervWater
A high signal means that an error has occurred.
Digital output signal for indication of protective gas er-
rors.
signaldo
SupervGas
A high signal means that an error has occurred.
Digital output signal for indication of wire feed errors.
signaldo
SupervFeed
A high signal means that an error has occurred.
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8.3.3 The type Arc Equipment Digital Outputs
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Note
Data type
Parameter
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO2Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO3 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO3
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO3Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO4 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO4
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO4Label
See Configurable error handling on page 231 .
Digital input signal for supervision of the user defined
input signal USERIO5 during the weld process. The
level is only supervised during the weld, not at start or
end of the weld.
signaldi
USERIO5
A high signal means that the signal is OK.
Label describing the error level of the signal. There are
three available levels, MAJOR, MINOR and INFO.
string
USERIO5Label
See Configurable error handling on page 231 .
Note
If the signals from the arc process equipment are not stable enough, it might be
necessary to filter them. See Topic I/O System section Type Signal in Technical
reference manual - System parameters
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8 System parameters
8.3.2 The type Arc Equipment Digital Inputs
Continued
8.3.3 The type Arc Equipment Digital Outputs
Parameters
The following digital outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Digital Outputs .
string
Name
Digital output signal for indication of welding defects.
signaldo
AWError
A high signal means that an error has occurred. If a
normal program stop occurs in the middle of a weld, no
high signal will be generated.
Digital output signal for control of the gas flow.
signaldo
GasOn
A high signal means that the gas flow is active.
Digital output signal for control of the weld voltage.
signaldo
WeldOn
A high signal means that the weld voltage control is
active.
This parameter must always be defined
Digital output signal for indication of RobotReady signal.
signaldo
RobotReady
Digital output signal for activation of the wire feed.
signaldo
FeedOn
A high signal means wirefeed forward.
Digital output signal for backward activation of the wire
feed.
signaldo
FeedOnBwd
A high signal means wirefeed backward.
Digital output signal used for handshaking during data
transfer from the program to the welding equipment.
Used if schedule port type has been defined as Pulse.
signaldo
SchedStrobe
A high signal means that the schedule strobe signal is
used for handshaking during data transfer.
Digital output signal used to indicate that the weld has
been interrupted.
signaldo
ProcessStopped
A high signal means that the weld has been interrupted
either because of a welding defect or because of a
normal program stop.
Digital output signal for indication of welding arc errors.
signaldo
SupervArc
A high signal means that an error has occurred.
Digital output signal for indication of voltage errors.
signaldo
SupervVolt
A high signal means that an error has occurred.
Digital output signal for indication of current errors.
signaldo
SupervCurrent
A high signal means that an error has occurred.
Digital output signal for indication of cooling water er-
rors.
signaldo
SupervWater
A high signal means that an error has occurred.
Digital output signal for indication of protective gas er-
rors.
signaldo
SupervGas
A high signal means that an error has occurred.
Digital output signal for indication of wire feed errors.
signaldo
SupervFeed
A high signal means that an error has occurred.
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8 System parameters
8.3.3 The type Arc Equipment Digital Outputs
Note
Data type
Parameter
Digital output signal for indication of torch errors.
signaldo
SupervGun
A high signal means that an error has occurred.
Digital output signal for indication of Blocked process
signaldo
AWBlock
Digital output signal for indication of WelderReady signal
errors. A high signal means that an error has occurred.
signaldo
SupervWelder-
Ready
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8 System parameters
8.3.3 The type Arc Equipment Digital Outputs
Continued
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8.3.3 The type Arc Equipment Digital Outputs
Parameters
The following digital outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Digital Outputs .
string
Name
Digital output signal for indication of welding defects.
signaldo
AWError
A high signal means that an error has occurred. If a
normal program stop occurs in the middle of a weld, no
high signal will be generated.
Digital output signal for control of the gas flow.
signaldo
GasOn
A high signal means that the gas flow is active.
Digital output signal for control of the weld voltage.
signaldo
WeldOn
A high signal means that the weld voltage control is
active.
This parameter must always be defined
Digital output signal for indication of RobotReady signal.
signaldo
RobotReady
Digital output signal for activation of the wire feed.
signaldo
FeedOn
A high signal means wirefeed forward.
Digital output signal for backward activation of the wire
feed.
signaldo
FeedOnBwd
A high signal means wirefeed backward.
Digital output signal used for handshaking during data
transfer from the program to the welding equipment.
Used if schedule port type has been defined as Pulse.
signaldo
SchedStrobe
A high signal means that the schedule strobe signal is
used for handshaking during data transfer.
Digital output signal used to indicate that the weld has
been interrupted.
signaldo
ProcessStopped
A high signal means that the weld has been interrupted
either because of a welding defect or because of a
normal program stop.
Digital output signal for indication of welding arc errors.
signaldo
SupervArc
A high signal means that an error has occurred.
Digital output signal for indication of voltage errors.
signaldo
SupervVolt
A high signal means that an error has occurred.
Digital output signal for indication of current errors.
signaldo
SupervCurrent
A high signal means that an error has occurred.
Digital output signal for indication of cooling water er-
rors.
signaldo
SupervWater
A high signal means that an error has occurred.
Digital output signal for indication of protective gas er-
rors.
signaldo
SupervGas
A high signal means that an error has occurred.
Digital output signal for indication of wire feed errors.
signaldo
SupervFeed
A high signal means that an error has occurred.
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8 System parameters
8.3.3 The type Arc Equipment Digital Outputs
Note
Data type
Parameter
Digital output signal for indication of torch errors.
signaldo
SupervGun
A high signal means that an error has occurred.
Digital output signal for indication of Blocked process
signaldo
AWBlock
Digital output signal for indication of WelderReady signal
errors. A high signal means that an error has occurred.
signaldo
SupervWelder-
Ready
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8 System parameters
8.3.3 The type Arc Equipment Digital Outputs
Continued
8.3.4 The type Arc Equipment Analog Outputs
Parameters
The following analog outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Analog Outputs .
string
Name
Analog output signal for analog voltage reference. If
weld voltage is defined, the component weld_voltage
in welddata ( welddata - Weld data on page195 ) is avail-
able.
signalao
VoltReference
Analog output signal for analog wire feed reference.If
wire feed is defined and schedule port type is set to
CAN (=3), the component weld_wirefeed in welddata
( welddata - Weld data on page 195 ) is available.
signalao
FeedReference
Analog output signal for analog current reference. If
current is defined, the component weld_current in
welddata ( welddata - Weld data on page195 ) is available.
signalao
CurrentReference
Tunable analog output for certain welders.
signalao
ControlPort
Analog output signal for analog voltage reference for
gun number 2 in a TwinWire setup. If weld voltage is
defined, the component weld_voltage in welddata
( welddata - Weld data on page 195 ) is available.
signalao
VoltReference2
Analog output signal for analog wire feed reference for
gun number 2 in a TwinWire setup.If wire feed is defined
and schedule port type is set to CAN (=3), the compon-
ent weld_wirefeed in welddata ( welddata - Weld data
on page 195 ) is available.
signalao
FeedReference2
Analog output signal for analog current reference for
gun number 2 in a TwinWire setup. If current is defined,
the component weld_current in welddata ( welddata
- Weld data on page 195 ) is available.
signalao
CurrentReference2
Tunable analog output2 for certain welders. Used in
TwinWire Systems.
signalao
ControlPort2
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8.3.4 The type Arc Equipment Analog Outputs
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Note
Data type
Parameter
Digital output signal for indication of torch errors.
signaldo
SupervGun
A high signal means that an error has occurred.
Digital output signal for indication of Blocked process
signaldo
AWBlock
Digital output signal for indication of WelderReady signal
errors. A high signal means that an error has occurred.
signaldo
SupervWelder-
Ready
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8 System parameters
8.3.3 The type Arc Equipment Digital Outputs
Continued
8.3.4 The type Arc Equipment Analog Outputs
Parameters
The following analog outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Analog Outputs .
string
Name
Analog output signal for analog voltage reference. If
weld voltage is defined, the component weld_voltage
in welddata ( welddata - Weld data on page195 ) is avail-
able.
signalao
VoltReference
Analog output signal for analog wire feed reference.If
wire feed is defined and schedule port type is set to
CAN (=3), the component weld_wirefeed in welddata
( welddata - Weld data on page 195 ) is available.
signalao
FeedReference
Analog output signal for analog current reference. If
current is defined, the component weld_current in
welddata ( welddata - Weld data on page195 ) is available.
signalao
CurrentReference
Tunable analog output for certain welders.
signalao
ControlPort
Analog output signal for analog voltage reference for
gun number 2 in a TwinWire setup. If weld voltage is
defined, the component weld_voltage in welddata
( welddata - Weld data on page 195 ) is available.
signalao
VoltReference2
Analog output signal for analog wire feed reference for
gun number 2 in a TwinWire setup.If wire feed is defined
and schedule port type is set to CAN (=3), the compon-
ent weld_wirefeed in welddata ( welddata - Weld data
on page 195 ) is available.
signalao
FeedReference2
Analog output signal for analog current reference for
gun number 2 in a TwinWire setup. If current is defined,
the component weld_current in welddata ( welddata
- Weld data on page 195 ) is available.
signalao
CurrentReference2
Tunable analog output2 for certain welders. Used in
TwinWire Systems.
signalao
ControlPort2
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8 System parameters
8.3.4 The type Arc Equipment Analog Outputs
8.3.5 The type Arc Equipment Analog Inputs
Parameters
The following analog inputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Analog Inputs .
string
Name
Analog input signal for voltage measurement.
signalai
VoltageMeas
Analog input signal for current measurement.
signalai
CurrentMeas
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8.3.5 The type Arc Equipment Analog Inputs
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8.3.4 The type Arc Equipment Analog Outputs
Parameters
The following analog outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Analog Outputs .
string
Name
Analog output signal for analog voltage reference. If
weld voltage is defined, the component weld_voltage
in welddata ( welddata - Weld data on page195 ) is avail-
able.
signalao
VoltReference
Analog output signal for analog wire feed reference.If
wire feed is defined and schedule port type is set to
CAN (=3), the component weld_wirefeed in welddata
( welddata - Weld data on page 195 ) is available.
signalao
FeedReference
Analog output signal for analog current reference. If
current is defined, the component weld_current in
welddata ( welddata - Weld data on page195 ) is available.
signalao
CurrentReference
Tunable analog output for certain welders.
signalao
ControlPort
Analog output signal for analog voltage reference for
gun number 2 in a TwinWire setup. If weld voltage is
defined, the component weld_voltage in welddata
( welddata - Weld data on page 195 ) is available.
signalao
VoltReference2
Analog output signal for analog wire feed reference for
gun number 2 in a TwinWire setup.If wire feed is defined
and schedule port type is set to CAN (=3), the compon-
ent weld_wirefeed in welddata ( welddata - Weld data
on page 195 ) is available.
signalao
FeedReference2
Analog output signal for analog current reference for
gun number 2 in a TwinWire setup. If current is defined,
the component weld_current in welddata ( welddata
- Weld data on page 195 ) is available.
signalao
CurrentReference2
Tunable analog output2 for certain welders. Used in
TwinWire Systems.
signalao
ControlPort2
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8 System parameters
8.3.4 The type Arc Equipment Analog Outputs
8.3.5 The type Arc Equipment Analog Inputs
Parameters
The following analog inputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Analog Inputs .
string
Name
Analog input signal for voltage measurement.
signalai
VoltageMeas
Analog input signal for current measurement.
signalai
CurrentMeas
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8 System parameters
8.3.5 The type Arc Equipment Analog Inputs
8.3.6 The type Arc Equipment Group Outputs
Parameters
The following group outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Group Outputs .
string
Name
Group of digital output signals used to transfer schedule
data to the welding equipment.
signalgo
SchedulePort
Group of digital output signals used to transfer mode
data to the welding equipment.
signalgo
ModePort
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8.3.6 The type Arc Equipment Group Outputs
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8.3.5 The type Arc Equipment Analog Inputs
Parameters
The following analog inputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Analog Inputs .
string
Name
Analog input signal for voltage measurement.
signalai
VoltageMeas
Analog input signal for current measurement.
signalai
CurrentMeas
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8 System parameters
8.3.5 The type Arc Equipment Analog Inputs
8.3.6 The type Arc Equipment Group Outputs
Parameters
The following group outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Group Outputs .
string
Name
Group of digital output signals used to transfer schedule
data to the welding equipment.
signalgo
SchedulePort
Group of digital output signals used to transfer mode
data to the welding equipment.
signalgo
ModePort
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8 System parameters
8.3.6 The type Arc Equipment Group Outputs
8.4 The group Optical Sensor
8.4.1 The type Optical Sensor
Parameters
The type Optical Sensor holds parameters for the option Optical Sensor .
Note
Data type
Parameter
The name of the Optical Sensor .
string
Name
The Optical Sensor Class used by the Arc Sensor Class .
string
Use Optical Sensor
Class
The optical sensor properties used by the Optical
Sensor .
string
Use Optical Sensor
Properties
Two sensor properties are available: MSPOT90 and
SCOUT.
The robot to which the sensor is connected.
string
Connected to Robot
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8 System parameters
8.4.1 The type Optical Sensor
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8.3.6 The type Arc Equipment Group Outputs
Parameters
The following group outputs can be defined in RobotWare Arc.
Note
Data type
Parameter
The name of the Arc Equipment Group Outputs .
string
Name
Group of digital output signals used to transfer schedule
data to the welding equipment.
signalgo
SchedulePort
Group of digital output signals used to transfer mode
data to the welding equipment.
signalgo
ModePort
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8 System parameters
8.3.6 The type Arc Equipment Group Outputs
8.4 The group Optical Sensor
8.4.1 The type Optical Sensor
Parameters
The type Optical Sensor holds parameters for the option Optical Sensor .
Note
Data type
Parameter
The name of the Optical Sensor .
string
Name
The Optical Sensor Class used by the Arc Sensor Class .
string
Use Optical Sensor
Class
The optical sensor properties used by the Optical
Sensor .
string
Use Optical Sensor
Properties
Two sensor properties are available: MSPOT90 and
SCOUT.
The robot to which the sensor is connected.
string
Connected to Robot
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8 System parameters
8.4.1 The type Optical Sensor
8.4.2 The type Optical Sensor Properties
Parameters
The Optical Sensor Properties holds parameters for the optical sensor.
Note
Data type
Parameter
The name of the Arc Sensor Class .
string
Name
The name of the sensor manufacturer.
string
Sensor Manufac-
turer
Defines the TrackSystem type.
num
Track System
1 for LaserTrack
The device name used for the tracker.
string
Device
Device must match the transmission protocol name
configured in SIO.cfg.
"Laser1:" for lasertracker.
The coordination position at the extents of the weaving
pattern. It is specified as a percentage of the width on
either side of the weaving center. When weaving is
carried out beyond this point, a digital output signal is
automatically set to one. This type of coordination is
intended for seam tracking using Through-the-Arc
Tracker.
num
Pattern Sync
Threshold
The max_blind component defines the maximum dis-
tance the robot is allowed to continue moving under the
assumption that the last reported position error is still
valid. The parameter should be tuned to match the
maximum expected tack lengths used, or the length of
other features.
num
Max Blind
For example, clamps that may prevent the sensor from
accurately detect the actual position and geometry of
the seam. If the max_blind distance has been exceeded
with no new position data from the sensor an error will
be reported and program execution is stopped.
Not used. The max_corr component in trackdata is
used instead.
num
Max Corr
Not used.
num
Adapt Start Delay
Max incremental correction for the arc tracking system.
num
Max Incremental
Correction
If the incremental TCP correction is bigger than Max
Incremental Correction and Max Correction Warning
was set, the robot will continue its path but the applied
incremental correction will not exceed Max Incremental
Correction . If Max Correction Warning was not set, a
track error is reported and program execution is
stopped.
Default value is 3 mm.
The name of the log file created during tracking.
string
Log File
Defines the sample frequency of the sensor used. (e.g.
M-Spot-90 has 5Hz sampling frequency)
num
Sensor Frequency
Defines the robot controller internal time delay between
ipol task and servo task.
num
Ipol Servo Delay
Use default value: 74 ms
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8 System parameters
8.4.2 The type Optical Sensor Properties
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8.4 The group Optical Sensor
8.4.1 The type Optical Sensor
Parameters
The type Optical Sensor holds parameters for the option Optical Sensor .
Note
Data type
Parameter
The name of the Optical Sensor .
string
Name
The Optical Sensor Class used by the Arc Sensor Class .
string
Use Optical Sensor
Class
The optical sensor properties used by the Optical
Sensor .
string
Use Optical Sensor
Properties
Two sensor properties are available: MSPOT90 and
SCOUT.
The robot to which the sensor is connected.
string
Connected to Robot
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8 System parameters
8.4.1 The type Optical Sensor
8.4.2 The type Optical Sensor Properties
Parameters
The Optical Sensor Properties holds parameters for the optical sensor.
Note
Data type
Parameter
The name of the Arc Sensor Class .
string
Name
The name of the sensor manufacturer.
string
Sensor Manufac-
turer
Defines the TrackSystem type.
num
Track System
1 for LaserTrack
The device name used for the tracker.
string
Device
Device must match the transmission protocol name
configured in SIO.cfg.
"Laser1:" for lasertracker.
The coordination position at the extents of the weaving
pattern. It is specified as a percentage of the width on
either side of the weaving center. When weaving is
carried out beyond this point, a digital output signal is
automatically set to one. This type of coordination is
intended for seam tracking using Through-the-Arc
Tracker.
num
Pattern Sync
Threshold
The max_blind component defines the maximum dis-
tance the robot is allowed to continue moving under the
assumption that the last reported position error is still
valid. The parameter should be tuned to match the
maximum expected tack lengths used, or the length of
other features.
num
Max Blind
For example, clamps that may prevent the sensor from
accurately detect the actual position and geometry of
the seam. If the max_blind distance has been exceeded
with no new position data from the sensor an error will
be reported and program execution is stopped.
Not used. The max_corr component in trackdata is
used instead.
num
Max Corr
Not used.
num
Adapt Start Delay
Max incremental correction for the arc tracking system.
num
Max Incremental
Correction
If the incremental TCP correction is bigger than Max
Incremental Correction and Max Correction Warning
was set, the robot will continue its path but the applied
incremental correction will not exceed Max Incremental
Correction . If Max Correction Warning was not set, a
track error is reported and program execution is
stopped.
Default value is 3 mm.
The name of the log file created during tracking.
string
Log File
Defines the sample frequency of the sensor used. (e.g.
M-Spot-90 has 5Hz sampling frequency)
num
Sensor Frequency
Defines the robot controller internal time delay between
ipol task and servo task.
num
Ipol Servo Delay
Use default value: 74 ms
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8 System parameters
8.4.2 The type Optical Sensor Properties
Note
Data type
Parameter
Defines the gain factor for the correction imposed on
ipol.
num
Ipol Correction Gain
Use default value: 0
Defines the number of servo corrections per sensor
readings.
num
Servo Sensor Factor
Use default value: 0
Defines filtering of the correction calculated, using mean
value over corr filter values.
num
Correction Filter
Use default value: 1
Defines filtering of the ipol correction, using mean value
over path filter values.
num
Ipol Correction Filter
Use default value: 1
Defines filtering of the servo correction, using mean
value Filter over path servo filter values.
num
Servo Correction
Use default value: 1
Defines during how many sensor readings ramp in is
done after an error caused by sensor reading.
num
Error Ramp In
Defines during how many sensor readings ramp out is
done after an error caused by sensor reading.
num
Error Ramp Out
Defines the angle between a 3D sensor beam and the
sensor z-axis.
num
CB Angle
Use default value: 0 for M-Spot-90 and 25 for SCOUT.
The name of the calibration variable name found in the
calibration programs.
num
Calib Variable Name
RAPID data type: pose
The name of the calibration variable offset name found
in the calibration programs.
num
Calib Variable Offset
Name
RAPID data type: pos
If this parameter is enabled, program execution is not
interrupted, when the limit for maximum correction,
specified in the trackdata, is exceeded. Only a warning
will be sent.
bool
Max Correction
Warning
Default value: FALSE
Digital output signal for left syncpulse.
string
WgLeftSynch
Digital output signal for right syncpulse.
string
WgRightSynch
Not used.
string
Wg track
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8 System parameters
8.4.2 The type Optical Sensor Properties
Continued
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8.4.2 The type Optical Sensor Properties
Parameters
The Optical Sensor Properties holds parameters for the optical sensor.
Note
Data type
Parameter
The name of the Arc Sensor Class .
string
Name
The name of the sensor manufacturer.
string
Sensor Manufac-
turer
Defines the TrackSystem type.
num
Track System
1 for LaserTrack
The device name used for the tracker.
string
Device
Device must match the transmission protocol name
configured in SIO.cfg.
"Laser1:" for lasertracker.
The coordination position at the extents of the weaving
pattern. It is specified as a percentage of the width on
either side of the weaving center. When weaving is
carried out beyond this point, a digital output signal is
automatically set to one. This type of coordination is
intended for seam tracking using Through-the-Arc
Tracker.
num
Pattern Sync
Threshold
The max_blind component defines the maximum dis-
tance the robot is allowed to continue moving under the
assumption that the last reported position error is still
valid. The parameter should be tuned to match the
maximum expected tack lengths used, or the length of
other features.
num
Max Blind
For example, clamps that may prevent the sensor from
accurately detect the actual position and geometry of
the seam. If the max_blind distance has been exceeded
with no new position data from the sensor an error will
be reported and program execution is stopped.
Not used. The max_corr component in trackdata is
used instead.
num
Max Corr
Not used.
num
Adapt Start Delay
Max incremental correction for the arc tracking system.
num
Max Incremental
Correction
If the incremental TCP correction is bigger than Max
Incremental Correction and Max Correction Warning
was set, the robot will continue its path but the applied
incremental correction will not exceed Max Incremental
Correction . If Max Correction Warning was not set, a
track error is reported and program execution is
stopped.
Default value is 3 mm.
The name of the log file created during tracking.
string
Log File
Defines the sample frequency of the sensor used. (e.g.
M-Spot-90 has 5Hz sampling frequency)
num
Sensor Frequency
Defines the robot controller internal time delay between
ipol task and servo task.
num
Ipol Servo Delay
Use default value: 74 ms
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8 System parameters
8.4.2 The type Optical Sensor Properties
Note
Data type
Parameter
Defines the gain factor for the correction imposed on
ipol.
num
Ipol Correction Gain
Use default value: 0
Defines the number of servo corrections per sensor
readings.
num
Servo Sensor Factor
Use default value: 0
Defines filtering of the correction calculated, using mean
value over corr filter values.
num
Correction Filter
Use default value: 1
Defines filtering of the ipol correction, using mean value
over path filter values.
num
Ipol Correction Filter
Use default value: 1
Defines filtering of the servo correction, using mean
value Filter over path servo filter values.
num
Servo Correction
Use default value: 1
Defines during how many sensor readings ramp in is
done after an error caused by sensor reading.
num
Error Ramp In
Defines during how many sensor readings ramp out is
done after an error caused by sensor reading.
num
Error Ramp Out
Defines the angle between a 3D sensor beam and the
sensor z-axis.
num
CB Angle
Use default value: 0 for M-Spot-90 and 25 for SCOUT.
The name of the calibration variable name found in the
calibration programs.
num
Calib Variable Name
RAPID data type: pose
The name of the calibration variable offset name found
in the calibration programs.
num
Calib Variable Offset
Name
RAPID data type: pos
If this parameter is enabled, program execution is not
interrupted, when the limit for maximum correction,
specified in the trackdata, is exceeded. Only a warning
will be sent.
bool
Max Correction
Warning
Default value: FALSE
Digital output signal for left syncpulse.
string
WgLeftSynch
Digital output signal for right syncpulse.
string
WgRightSynch
Not used.
string
Wg track
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8 System parameters
8.4.2 The type Optical Sensor Properties
Continued
Programmed path
Actual path
max_corr
p1
p2
p3
p4
p5
xx1200000686
Max correction
230
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8 System parameters
8.4.2 The type Optical Sensor Properties
Continued
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Note
Data type
Parameter
Defines the gain factor for the correction imposed on
ipol.
num
Ipol Correction Gain
Use default value: 0
Defines the number of servo corrections per sensor
readings.
num
Servo Sensor Factor
Use default value: 0
Defines filtering of the correction calculated, using mean
value over corr filter values.
num
Correction Filter
Use default value: 1
Defines filtering of the ipol correction, using mean value
over path filter values.
num
Ipol Correction Filter
Use default value: 1
Defines filtering of the servo correction, using mean
value Filter over path servo filter values.
num
Servo Correction
Use default value: 1
Defines during how many sensor readings ramp in is
done after an error caused by sensor reading.
num
Error Ramp In
Defines during how many sensor readings ramp out is
done after an error caused by sensor reading.
num
Error Ramp Out
Defines the angle between a 3D sensor beam and the
sensor z-axis.
num
CB Angle
Use default value: 0 for M-Spot-90 and 25 for SCOUT.
The name of the calibration variable name found in the
calibration programs.
num
Calib Variable Name
RAPID data type: pose
The name of the calibration variable offset name found
in the calibration programs.
num
Calib Variable Offset
Name
RAPID data type: pos
If this parameter is enabled, program execution is not
interrupted, when the limit for maximum correction,
specified in the trackdata, is exceeded. Only a warning
will be sent.
bool
Max Correction
Warning
Default value: FALSE
Digital output signal for left syncpulse.
string
WgLeftSynch
Digital output signal for right syncpulse.
string
WgRightSynch
Not used.
string
Wg track
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8 System parameters
8.4.2 The type Optical Sensor Properties
Continued
Programmed path
Actual path
max_corr
p1
p2
p3
p4
p5
xx1200000686
Max correction
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8 System parameters
8.4.2 The type Optical Sensor Properties
Continued
8.5 Configurable error handling
Error levels
Some of the supervision signals have labels, to make it possible to configure the
error behavior when this signal is the cause of the error. There are three available
error levels. MAJOR, MINOR and INFO.
•
MAJOR is the default setting if no level is specified. A signal error results in
a process stop. Normal error handling is executed after the stop.
•
MINOR label on a signal does not result in normal error handling. A signal
error results in process shutdown but without stop of the motion. An error
message is displayed like the normal error handling does. After the weld is
completed, there is RAPID variable that can be checked to see whether or
not an MINOR error has occurred.
•
INFO label on a signal does not result in normal error handling. A signal error
does not stop the process, just a warning is sent and the welding process
continues.
Background
When welding a part in synchronized mode and one of the welders stop to weld
(due to a signal supervision error), this will cause all synchronized robots to stop
and the program execution will end up in the local error handler routine. This also
means that the welder without problems also stops, even though it was welding
OK.
The solution to this problem is to shut down the process of the failing robot and
continue with the synchronized motion. By doing so, the non-failing robot will
continue with the ongoing weld without interruption. This can be achieved by
labeling the recoverable system input errors in three levels - MAJOR, MINOR and
INFO.
The following table shows the system behavior.
Elog warning
Elog error
Process shut-
down
In error hand-
ler
SYS_STOP
Label
NO
YES
YES
YES
YES
MAJOR
NO
YES
YES
NO
NO
MINOR
YES
NO
NO
NO
NO
INFO
The MAJOR label works as if no level is specified, that is, normal error handling.
The MINOR label is only active when the weld has started. At the start of the weld
the normal signal supervision is active.
User defined I/O signals
It is possible to add 5 user defined signals which will be supervised during the
weld process.
These signals can also be labelled with the above mentioned levels.
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8 System parameters
8.5 Configurable error handling
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Programmed path
Actual path
max_corr
p1
p2
p3
p4
p5
xx1200000686
Max correction
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8 System parameters
8.4.2 The type Optical Sensor Properties
Continued
8.5 Configurable error handling
Error levels
Some of the supervision signals have labels, to make it possible to configure the
error behavior when this signal is the cause of the error. There are three available
error levels. MAJOR, MINOR and INFO.
•
MAJOR is the default setting if no level is specified. A signal error results in
a process stop. Normal error handling is executed after the stop.
•
MINOR label on a signal does not result in normal error handling. A signal
error results in process shutdown but without stop of the motion. An error
message is displayed like the normal error handling does. After the weld is
completed, there is RAPID variable that can be checked to see whether or
not an MINOR error has occurred.
•
INFO label on a signal does not result in normal error handling. A signal error
does not stop the process, just a warning is sent and the welding process
continues.
Background
When welding a part in synchronized mode and one of the welders stop to weld
(due to a signal supervision error), this will cause all synchronized robots to stop
and the program execution will end up in the local error handler routine. This also
means that the welder without problems also stops, even though it was welding
OK.
The solution to this problem is to shut down the process of the failing robot and
continue with the synchronized motion. By doing so, the non-failing robot will
continue with the ongoing weld without interruption. This can be achieved by
labeling the recoverable system input errors in three levels - MAJOR, MINOR and
INFO.
The following table shows the system behavior.
Elog warning
Elog error
Process shut-
down
In error hand-
ler
SYS_STOP
Label
NO
YES
YES
YES
YES
MAJOR
NO
YES
YES
NO
NO
MINOR
YES
NO
NO
NO
NO
INFO
The MAJOR label works as if no level is specified, that is, normal error handling.
The MINOR label is only active when the weld has started. At the start of the weld
the normal signal supervision is active.
User defined I/O signals
It is possible to add 5 user defined signals which will be supervised during the
weld process.
These signals can also be labelled with the above mentioned levels.
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8 System parameters
8.5 Configurable error handling
Error detection
If an error labelled with MINOR has occurred during the weld, a global variable is
set which can be checked after the weld seam is finished. This variable will be
reset at the beginning of the next weld seam. The variable name is bMinorErr .
The same applies for the INFO labelled errors, the variable name here is bInfoErr .
The following shows an example of how these variables can be checked.
PROC Rob1_UpSide()
ArcLStart pPrep10,v500,sm1,wd2\Weave:=wv2,fine,
Rob1_tool\WObj:=wobj_STN1;
SyncMoveOn sync1, all_task_list;
ArcC pSync10,pSync20\ID:=id1,v300,sm1,wd2\Weave:=wv2,z5,
Rob1_tool\WObj:=wobj_STN1;
ArcC
pSync30,pSync40\ID:=11,v300,sm1,wd2\Weave:=wv2,z5,Rob1_tool\WObj:=wobj_STN1;
ArcC pSync50,pSync60\ID:=110,v300,sm1,wd2\Weave:=wv2,z5,
Rob1_tool\WObj:=wobj_STN1;
ArcCEnd pSync70,pSync80\ID:=120,v300,sm1,wd2\Weave:=wv2,fine,
Rob1_tool\WObj:=wobj_STN1;
!
CheckError;
ERROR TPWrite "Error in ROB1";
StorePath;
RestoPath;
StartMoveRetry;
ENDPROC
PROC CheckError()
! Global VAR bInfoErr is set if there has been an INFO labelled
error during the seam.
IF bInfoErr THEN
TPWrite "--- An INFO tagged signal error occurred during the
seam ---";
TPWrite "--- Check the elog messages for more information. --";
ENDIF
! Global VAR bMinorErr is set if there has been a MINOR labelled
error during the seam.
IF bMinorErr THEN
TPWrite "--- A MINOR tagged signal error occurred during the
seam ---";
TPWrite "---Check the elog messages for more information. ---";
ENDIF
IF bInfoErr OR bMinorErr THEN
! Stop motion and RAPID execution in all robot tasks.
Stop;
! Handle error and continue execution with StartMove or press
start button.
!
ENDIF
ENDPROC
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8 System parameters
8.5 Configurable error handling
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8.5 Configurable error handling
Error levels
Some of the supervision signals have labels, to make it possible to configure the
error behavior when this signal is the cause of the error. There are three available
error levels. MAJOR, MINOR and INFO.
•
MAJOR is the default setting if no level is specified. A signal error results in
a process stop. Normal error handling is executed after the stop.
•
MINOR label on a signal does not result in normal error handling. A signal
error results in process shutdown but without stop of the motion. An error
message is displayed like the normal error handling does. After the weld is
completed, there is RAPID variable that can be checked to see whether or
not an MINOR error has occurred.
•
INFO label on a signal does not result in normal error handling. A signal error
does not stop the process, just a warning is sent and the welding process
continues.
Background
When welding a part in synchronized mode and one of the welders stop to weld
(due to a signal supervision error), this will cause all synchronized robots to stop
and the program execution will end up in the local error handler routine. This also
means that the welder without problems also stops, even though it was welding
OK.
The solution to this problem is to shut down the process of the failing robot and
continue with the synchronized motion. By doing so, the non-failing robot will
continue with the ongoing weld without interruption. This can be achieved by
labeling the recoverable system input errors in three levels - MAJOR, MINOR and
INFO.
The following table shows the system behavior.
Elog warning
Elog error
Process shut-
down
In error hand-
ler
SYS_STOP
Label
NO
YES
YES
YES
YES
MAJOR
NO
YES
YES
NO
NO
MINOR
YES
NO
NO
NO
NO
INFO
The MAJOR label works as if no level is specified, that is, normal error handling.
The MINOR label is only active when the weld has started. At the start of the weld
the normal signal supervision is active.
User defined I/O signals
It is possible to add 5 user defined signals which will be supervised during the
weld process.
These signals can also be labelled with the above mentioned levels.
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8 System parameters
8.5 Configurable error handling
Error detection
If an error labelled with MINOR has occurred during the weld, a global variable is
set which can be checked after the weld seam is finished. This variable will be
reset at the beginning of the next weld seam. The variable name is bMinorErr .
The same applies for the INFO labelled errors, the variable name here is bInfoErr .
The following shows an example of how these variables can be checked.
PROC Rob1_UpSide()
ArcLStart pPrep10,v500,sm1,wd2\Weave:=wv2,fine,
Rob1_tool\WObj:=wobj_STN1;
SyncMoveOn sync1, all_task_list;
ArcC pSync10,pSync20\ID:=id1,v300,sm1,wd2\Weave:=wv2,z5,
Rob1_tool\WObj:=wobj_STN1;
ArcC
pSync30,pSync40\ID:=11,v300,sm1,wd2\Weave:=wv2,z5,Rob1_tool\WObj:=wobj_STN1;
ArcC pSync50,pSync60\ID:=110,v300,sm1,wd2\Weave:=wv2,z5,
Rob1_tool\WObj:=wobj_STN1;
ArcCEnd pSync70,pSync80\ID:=120,v300,sm1,wd2\Weave:=wv2,fine,
Rob1_tool\WObj:=wobj_STN1;
!
CheckError;
ERROR TPWrite "Error in ROB1";
StorePath;
RestoPath;
StartMoveRetry;
ENDPROC
PROC CheckError()
! Global VAR bInfoErr is set if there has been an INFO labelled
error during the seam.
IF bInfoErr THEN
TPWrite "--- An INFO tagged signal error occurred during the
seam ---";
TPWrite "--- Check the elog messages for more information. --";
ENDIF
! Global VAR bMinorErr is set if there has been a MINOR labelled
error during the seam.
IF bMinorErr THEN
TPWrite "--- A MINOR tagged signal error occurred during the
seam ---";
TPWrite "---Check the elog messages for more information. ---";
ENDIF
IF bInfoErr OR bMinorErr THEN
! Stop motion and RAPID execution in all robot tasks.
Stop;
! Handle error and continue execution with StartMove or press
start button.
!
ENDIF
ENDPROC
232
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8 System parameters
8.5 Configurable error handling
Continued
8.6 Data masking
Description of masking
The RobotWare Arc data types, seamdata , welddata , arcdata , weavedata , and
trackdata are masked depending on how the system is configured. Masking
means that the components in the data types are visible or not visible. The idea
behind this is to show only the parameters that are relevant to the user. The data
masking is only valid on the FlexPendant and not in RobotStudio.
welddata
Unit conversion
Masking rules
Data component
Yes (velocity unit)
Always visible
weld_speed
Yes (velocity unit)
Visible if parameter override_on is activ-
ated in PROC.
org_weld_speed
No
Always visible
main_arc
No
Visible if parameter override_on is activ-
ated in PROC.
org_arc
arcdata
Unit conversion
Masking rules
Data component
No
Visible if GO SchedulePort is defined in
PROC.
sched
For Fronius option 650-9 visible if not Job-
Mode
No
Visible in Program mode for Fronius option
650-9
mode
No
Visible if AO VoltReference is defined in
PROC.
voltage
For Fronius option 650-9 visible if not Job-
Mode
Yes (feed unit)
Visible if AO FeedReference is defined in
PROC.
wirefeed
For Fronius option 650-9 visible if not Job-
Mode
No
Visible if AO ControlPort or ControlPort2 is
defined in PROC.
control
For Fronius option 650-9 visible if not Job-
Mode
No
Visible if AO CurrentReference is defined in
PROC, and/or WeldGuide is used.
current
No
Visible if AO VoltReference is defined in
PROC.
voltage2
Not valid for Fronius option 650-9.
Yes (feed unit)
Visible if AO FeedReference2 is defined in
PROC.
wirefeed2
Not valid for Fronius option 650-9.
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8 System parameters
8.6 Data masking
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Error detection
If an error labelled with MINOR has occurred during the weld, a global variable is
set which can be checked after the weld seam is finished. This variable will be
reset at the beginning of the next weld seam. The variable name is bMinorErr .
The same applies for the INFO labelled errors, the variable name here is bInfoErr .
The following shows an example of how these variables can be checked.
PROC Rob1_UpSide()
ArcLStart pPrep10,v500,sm1,wd2\Weave:=wv2,fine,
Rob1_tool\WObj:=wobj_STN1;
SyncMoveOn sync1, all_task_list;
ArcC pSync10,pSync20\ID:=id1,v300,sm1,wd2\Weave:=wv2,z5,
Rob1_tool\WObj:=wobj_STN1;
ArcC
pSync30,pSync40\ID:=11,v300,sm1,wd2\Weave:=wv2,z5,Rob1_tool\WObj:=wobj_STN1;
ArcC pSync50,pSync60\ID:=110,v300,sm1,wd2\Weave:=wv2,z5,
Rob1_tool\WObj:=wobj_STN1;
ArcCEnd pSync70,pSync80\ID:=120,v300,sm1,wd2\Weave:=wv2,fine,
Rob1_tool\WObj:=wobj_STN1;
!
CheckError;
ERROR TPWrite "Error in ROB1";
StorePath;
RestoPath;
StartMoveRetry;
ENDPROC
PROC CheckError()
! Global VAR bInfoErr is set if there has been an INFO labelled
error during the seam.
IF bInfoErr THEN
TPWrite "--- An INFO tagged signal error occurred during the
seam ---";
TPWrite "--- Check the elog messages for more information. --";
ENDIF
! Global VAR bMinorErr is set if there has been a MINOR labelled
error during the seam.
IF bMinorErr THEN
TPWrite "--- A MINOR tagged signal error occurred during the
seam ---";
TPWrite "---Check the elog messages for more information. ---";
ENDIF
IF bInfoErr OR bMinorErr THEN
! Stop motion and RAPID execution in all robot tasks.
Stop;
! Handle error and continue execution with StartMove or press
start button.
!
ENDIF
ENDPROC
232
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8 System parameters
8.5 Configurable error handling
Continued
8.6 Data masking
Description of masking
The RobotWare Arc data types, seamdata , welddata , arcdata , weavedata , and
trackdata are masked depending on how the system is configured. Masking
means that the components in the data types are visible or not visible. The idea
behind this is to show only the parameters that are relevant to the user. The data
masking is only valid on the FlexPendant and not in RobotStudio.
welddata
Unit conversion
Masking rules
Data component
Yes (velocity unit)
Always visible
weld_speed
Yes (velocity unit)
Visible if parameter override_on is activ-
ated in PROC.
org_weld_speed
No
Always visible
main_arc
No
Visible if parameter override_on is activ-
ated in PROC.
org_arc
arcdata
Unit conversion
Masking rules
Data component
No
Visible if GO SchedulePort is defined in
PROC.
sched
For Fronius option 650-9 visible if not Job-
Mode
No
Visible in Program mode for Fronius option
650-9
mode
No
Visible if AO VoltReference is defined in
PROC.
voltage
For Fronius option 650-9 visible if not Job-
Mode
Yes (feed unit)
Visible if AO FeedReference is defined in
PROC.
wirefeed
For Fronius option 650-9 visible if not Job-
Mode
No
Visible if AO ControlPort or ControlPort2 is
defined in PROC.
control
For Fronius option 650-9 visible if not Job-
Mode
No
Visible if AO CurrentReference is defined in
PROC, and/or WeldGuide is used.
current
No
Visible if AO VoltReference is defined in
PROC.
voltage2
Not valid for Fronius option 650-9.
Yes (feed unit)
Visible if AO FeedReference2 is defined in
PROC.
wirefeed2
Not valid for Fronius option 650-9.
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8 System parameters
8.6 Data masking
Unit conversion
Masking rules
Data component
No
Visible if AO VoltReference2 or FeedRefer-
ence2, and if AO ControlPort or ControlPort2
is defined in PROC.
control2
For Fronius option 650-9 visible if not Job-
Mode
seamdata
Unit conversion
Masking rules
Data component
No
Always visible.
purge_time
No
Always visible.
preflow_time
No
Visible if parameter ignition_on is activated
in PROC.
ign_arc
No
Visible if parameter ignition_on and
ign_move_delay_on is activated in PROC.
ignition_move_delay
No
Visible if parameter scrape_on and
scrape_opt_on is activated in PROC.
scrape_start
Yes (velocity unit)
Visible if parameter heat_on and
heat_as_time is activated in PROC.
heat_speed
No
Visible if parameter heat_on and
heat_as_time is activated in PROC.
heat_time
Yes (length unit)
Visible if parameter heat_on is activated in
PROC.
heat_distance
No
Visible if parameter heat_on is activated in
PROC.
heat_arc
No
Visible if parameter cool_time_on and fill_on
is activated in PROC.
cool_time
No
Visible if parameter fill_on is activated in
PROC.
fill_time
No
Visible if parameter fill_on is activated in
PROC.
fill_arc
No
Visible if parameter burnback_on is activated
in PROC.
bback_time
No
Visible if parameter rollback_on is activated
in PROC.
rback_time
No
Visible if parameter burnb_volt_on and burn-
back_on is activated in PROC.
bback_arc
No
Always visible.
postflow_time
trackdata
Unit conversion
Masking rules
Data component
No
Always visible.
track_system
No
Always visible.
store_path
No
Always visible.
max_corr
No
Visible if track_system = 0
arctrack
No
Visible if track_system = 1
opttrack
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8 System parameters
8.6 Data masking
Continued
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|
8.6 Data masking
Description of masking
The RobotWare Arc data types, seamdata , welddata , arcdata , weavedata , and
trackdata are masked depending on how the system is configured. Masking
means that the components in the data types are visible or not visible. The idea
behind this is to show only the parameters that are relevant to the user. The data
masking is only valid on the FlexPendant and not in RobotStudio.
welddata
Unit conversion
Masking rules
Data component
Yes (velocity unit)
Always visible
weld_speed
Yes (velocity unit)
Visible if parameter override_on is activ-
ated in PROC.
org_weld_speed
No
Always visible
main_arc
No
Visible if parameter override_on is activ-
ated in PROC.
org_arc
arcdata
Unit conversion
Masking rules
Data component
No
Visible if GO SchedulePort is defined in
PROC.
sched
For Fronius option 650-9 visible if not Job-
Mode
No
Visible in Program mode for Fronius option
650-9
mode
No
Visible if AO VoltReference is defined in
PROC.
voltage
For Fronius option 650-9 visible if not Job-
Mode
Yes (feed unit)
Visible if AO FeedReference is defined in
PROC.
wirefeed
For Fronius option 650-9 visible if not Job-
Mode
No
Visible if AO ControlPort or ControlPort2 is
defined in PROC.
control
For Fronius option 650-9 visible if not Job-
Mode
No
Visible if AO CurrentReference is defined in
PROC, and/or WeldGuide is used.
current
No
Visible if AO VoltReference is defined in
PROC.
voltage2
Not valid for Fronius option 650-9.
Yes (feed unit)
Visible if AO FeedReference2 is defined in
PROC.
wirefeed2
Not valid for Fronius option 650-9.
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8 System parameters
8.6 Data masking
Unit conversion
Masking rules
Data component
No
Visible if AO VoltReference2 or FeedRefer-
ence2, and if AO ControlPort or ControlPort2
is defined in PROC.
control2
For Fronius option 650-9 visible if not Job-
Mode
seamdata
Unit conversion
Masking rules
Data component
No
Always visible.
purge_time
No
Always visible.
preflow_time
No
Visible if parameter ignition_on is activated
in PROC.
ign_arc
No
Visible if parameter ignition_on and
ign_move_delay_on is activated in PROC.
ignition_move_delay
No
Visible if parameter scrape_on and
scrape_opt_on is activated in PROC.
scrape_start
Yes (velocity unit)
Visible if parameter heat_on and
heat_as_time is activated in PROC.
heat_speed
No
Visible if parameter heat_on and
heat_as_time is activated in PROC.
heat_time
Yes (length unit)
Visible if parameter heat_on is activated in
PROC.
heat_distance
No
Visible if parameter heat_on is activated in
PROC.
heat_arc
No
Visible if parameter cool_time_on and fill_on
is activated in PROC.
cool_time
No
Visible if parameter fill_on is activated in
PROC.
fill_time
No
Visible if parameter fill_on is activated in
PROC.
fill_arc
No
Visible if parameter burnback_on is activated
in PROC.
bback_time
No
Visible if parameter rollback_on is activated
in PROC.
rback_time
No
Visible if parameter burnb_volt_on and burn-
back_on is activated in PROC.
bback_arc
No
Always visible.
postflow_time
trackdata
Unit conversion
Masking rules
Data component
No
Always visible.
track_system
No
Always visible.
store_path
No
Always visible.
max_corr
No
Visible if track_system = 0
arctrack
No
Visible if track_system = 1
opttrack
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8 System parameters
8.6 Data masking
Continued
arctrackdata
Unit conversion
Masking rules
Data component
No
Always visible.
track_type
No
Always visible.
gain_y
No
Always visible.
gain_z
No
Always visible.
weld_penetration
No
Always visible.
track_bias
Yes (length unit)
Always visible.
min_weave
Yes (length unit)
Always visible.
max_weave
Yes (velocity unit)
Always visible.
min_speed
Yes (velocity unit)
Always visible.
max_speed
opttrackdata
Unit conversion
Masking rules
Data component
No
Always visible.
joint_no
No
Always visible.
filter
Yes (length unit)
Always visible.
seamoffs_y
Yes (length unit)
Always visible.
seamoffs_z
No
Always visible.
seamadapt_y
No
Always visible.
seamadapt_z
weavedata
Unit conversion
Masking rules
Data component
No
Always visible.
weave_shape
No
Always visible.
weave_type
Yes (length unit)
Always visible.
weave_length
Yes (length unit)
Always visible.
weave_width
Yes (length unit)
Always visible.
weave_height
Yes (length unit)
Always visible.
dwell_left
Yes (length unit)
Always visible.
dwell_center
Yes (length unit)
Always visible.
dwell_right
No
Always visible.
weave_dir
No
Always visible.
weave_tilt
No
Always visible.
weave_ori
Yes (length unit)
Always visible.
weave_bias
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_width
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_height
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8 System parameters
8.6 Data masking
Continued
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Unit conversion
Masking rules
Data component
No
Visible if AO VoltReference2 or FeedRefer-
ence2, and if AO ControlPort or ControlPort2
is defined in PROC.
control2
For Fronius option 650-9 visible if not Job-
Mode
seamdata
Unit conversion
Masking rules
Data component
No
Always visible.
purge_time
No
Always visible.
preflow_time
No
Visible if parameter ignition_on is activated
in PROC.
ign_arc
No
Visible if parameter ignition_on and
ign_move_delay_on is activated in PROC.
ignition_move_delay
No
Visible if parameter scrape_on and
scrape_opt_on is activated in PROC.
scrape_start
Yes (velocity unit)
Visible if parameter heat_on and
heat_as_time is activated in PROC.
heat_speed
No
Visible if parameter heat_on and
heat_as_time is activated in PROC.
heat_time
Yes (length unit)
Visible if parameter heat_on is activated in
PROC.
heat_distance
No
Visible if parameter heat_on is activated in
PROC.
heat_arc
No
Visible if parameter cool_time_on and fill_on
is activated in PROC.
cool_time
No
Visible if parameter fill_on is activated in
PROC.
fill_time
No
Visible if parameter fill_on is activated in
PROC.
fill_arc
No
Visible if parameter burnback_on is activated
in PROC.
bback_time
No
Visible if parameter rollback_on is activated
in PROC.
rback_time
No
Visible if parameter burnb_volt_on and burn-
back_on is activated in PROC.
bback_arc
No
Always visible.
postflow_time
trackdata
Unit conversion
Masking rules
Data component
No
Always visible.
track_system
No
Always visible.
store_path
No
Always visible.
max_corr
No
Visible if track_system = 0
arctrack
No
Visible if track_system = 1
opttrack
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8 System parameters
8.6 Data masking
Continued
arctrackdata
Unit conversion
Masking rules
Data component
No
Always visible.
track_type
No
Always visible.
gain_y
No
Always visible.
gain_z
No
Always visible.
weld_penetration
No
Always visible.
track_bias
Yes (length unit)
Always visible.
min_weave
Yes (length unit)
Always visible.
max_weave
Yes (velocity unit)
Always visible.
min_speed
Yes (velocity unit)
Always visible.
max_speed
opttrackdata
Unit conversion
Masking rules
Data component
No
Always visible.
joint_no
No
Always visible.
filter
Yes (length unit)
Always visible.
seamoffs_y
Yes (length unit)
Always visible.
seamoffs_z
No
Always visible.
seamadapt_y
No
Always visible.
seamadapt_z
weavedata
Unit conversion
Masking rules
Data component
No
Always visible.
weave_shape
No
Always visible.
weave_type
Yes (length unit)
Always visible.
weave_length
Yes (length unit)
Always visible.
weave_width
Yes (length unit)
Always visible.
weave_height
Yes (length unit)
Always visible.
dwell_left
Yes (length unit)
Always visible.
dwell_center
Yes (length unit)
Always visible.
dwell_right
No
Always visible.
weave_dir
No
Always visible.
weave_tilt
No
Always visible.
weave_ori
Yes (length unit)
Always visible.
weave_bias
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_width
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_height
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8 System parameters
8.6 Data masking
Continued
Unit conversion
Masking rules
Data component
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_bias
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8.6 Data masking
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arctrackdata
Unit conversion
Masking rules
Data component
No
Always visible.
track_type
No
Always visible.
gain_y
No
Always visible.
gain_z
No
Always visible.
weld_penetration
No
Always visible.
track_bias
Yes (length unit)
Always visible.
min_weave
Yes (length unit)
Always visible.
max_weave
Yes (velocity unit)
Always visible.
min_speed
Yes (velocity unit)
Always visible.
max_speed
opttrackdata
Unit conversion
Masking rules
Data component
No
Always visible.
joint_no
No
Always visible.
filter
Yes (length unit)
Always visible.
seamoffs_y
Yes (length unit)
Always visible.
seamoffs_z
No
Always visible.
seamadapt_y
No
Always visible.
seamadapt_z
weavedata
Unit conversion
Masking rules
Data component
No
Always visible.
weave_shape
No
Always visible.
weave_type
Yes (length unit)
Always visible.
weave_length
Yes (length unit)
Always visible.
weave_width
Yes (length unit)
Always visible.
weave_height
Yes (length unit)
Always visible.
dwell_left
Yes (length unit)
Always visible.
dwell_center
Yes (length unit)
Always visible.
dwell_right
No
Always visible.
weave_dir
No
Always visible.
weave_tilt
No
Always visible.
weave_ori
Yes (length unit)
Always visible.
weave_bias
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_width
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_height
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8 System parameters
8.6 Data masking
Continued
Unit conversion
Masking rules
Data component
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_bias
236
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8 System parameters
8.6 Data masking
Continued
8.7 Welder Ready Supervision for StdIoWelder interface
General
The interface can handle two variants of Welder Ready . Some power sources
interpret welder ready in such way that the signal is high once the welder is switched
on, including a check of electronic components such as main power supply and
fieldbus communication. The welder ready signal will stay high if no error occurs.
Other power sources will set the welder ready signal low once the arc start output
is set, and the signal will remain low until the weld is completed, indicating ready
for next weld.
Welder Ready supervision before the ignition phase
Supervision for Welder Ready can be activated in the system parameters, topic
Process , type Arc Equipment Properties , by setting the parameter Preconditions
On to TRUE.
![Image]
xx2100002522
A digital signal must be configured in Arc Equipment Digital Inputs for the
WelderReady instance.
If Preconditions On is set to TRUE, the interface will check welder ready before
the weld start. An error message is presented if supervision fails. If configured, a
corresponding output will be set indicating that welder ready supervision failed.
Continues on next page
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
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Unit conversion
Masking rules
Data component
Yes (length unit)
Visible if parameter override_on is activated
in PROC.
org_weave_bias
236
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8 System parameters
8.6 Data masking
Continued
8.7 Welder Ready Supervision for StdIoWelder interface
General
The interface can handle two variants of Welder Ready . Some power sources
interpret welder ready in such way that the signal is high once the welder is switched
on, including a check of electronic components such as main power supply and
fieldbus communication. The welder ready signal will stay high if no error occurs.
Other power sources will set the welder ready signal low once the arc start output
is set, and the signal will remain low until the weld is completed, indicating ready
for next weld.
Welder Ready supervision before the ignition phase
Supervision for Welder Ready can be activated in the system parameters, topic
Process , type Arc Equipment Properties , by setting the parameter Preconditions
On to TRUE.
![Image]
xx2100002522
A digital signal must be configured in Arc Equipment Digital Inputs for the
WelderReady instance.
If Preconditions On is set to TRUE, the interface will check welder ready before
the weld start. An error message is presented if supervision fails. If configured, a
corresponding output will be set indicating that welder ready supervision failed.
Continues on next page
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
This output can be configured in the system parameters, topic Process , type Arc
Equipment Digital Outputs , for the WelderReady instance.
Error message on FlexPendant
![Image]
xx2100002523
Continues on next page
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
Continued
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8.7 Welder Ready Supervision for StdIoWelder interface
General
The interface can handle two variants of Welder Ready . Some power sources
interpret welder ready in such way that the signal is high once the welder is switched
on, including a check of electronic components such as main power supply and
fieldbus communication. The welder ready signal will stay high if no error occurs.
Other power sources will set the welder ready signal low once the arc start output
is set, and the signal will remain low until the weld is completed, indicating ready
for next weld.
Welder Ready supervision before the ignition phase
Supervision for Welder Ready can be activated in the system parameters, topic
Process , type Arc Equipment Properties , by setting the parameter Preconditions
On to TRUE.
![Image]
xx2100002522
A digital signal must be configured in Arc Equipment Digital Inputs for the
WelderReady instance.
If Preconditions On is set to TRUE, the interface will check welder ready before
the weld start. An error message is presented if supervision fails. If configured, a
corresponding output will be set indicating that welder ready supervision failed.
Continues on next page
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237
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
This output can be configured in the system parameters, topic Process , type Arc
Equipment Digital Outputs , for the WelderReady instance.
Error message on FlexPendant
![Image]
xx2100002523
Continues on next page
238
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
Continued
Welder Ready supervision while welding is active
Supervision in the main welding phase can be only used for power sources that
keep welder ready active (high).
Supervision can be activated in the system parameters, topic Process , type Arc
Equipment Properties , by setting the parameter WelderReady Supervision On to
TRUE.
![Image]
xx2100002524
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
Continued
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This output can be configured in the system parameters, topic Process , type Arc
Equipment Digital Outputs , for the WelderReady instance.
Error message on FlexPendant
![Image]
xx2100002523
Continues on next page
238
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
Continued
Welder Ready supervision while welding is active
Supervision in the main welding phase can be only used for power sources that
keep welder ready active (high).
Supervision can be activated in the system parameters, topic Process , type Arc
Equipment Properties , by setting the parameter WelderReady Supervision On to
TRUE.
![Image]
xx2100002524
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
Continued
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|
Welder Ready supervision while welding is active
Supervision in the main welding phase can be only used for power sources that
keep welder ready active (high).
Supervision can be activated in the system parameters, topic Process , type Arc
Equipment Properties , by setting the parameter WelderReady Supervision On to
TRUE.
![Image]
xx2100002524
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8 System parameters
8.7 Welder Ready Supervision for StdIoWelder interface
Continued
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Index
A
Adaptive Process Control, 11
Additional Arc Systems, 10
advSeamData, 170
ArcC, 101
ArcCEnd, 110
ArcCStart, 120
arcdata, 173
Arc Equipment, 213
Arc Equipment Class, 214
ArcL, 129
ArcLEnd, 138
ArcLStart, 147
ArcMoveExtJ, 156
ArcRefresh, 158
Arc Robot Properties, 208
Arc System Properties, 204
Arc System settings, 203
Arc Units, 212
arc welding data, 21
arc welding instructions, 21
AristoMig, 9
auto mode functions, 26
B
blocking, 29
C
CorrClear, 13
CorrCon, 13
corrdescr, 13
CorrDiscon, 13
CorrRead, 13
CorrWrite, 13
D
data masking, 233
data tuning, 32
data types
advSeamData, 170
arcdata, 173
flystartdata, 175
seamdata, 176
trackdata, 182
weavedata, 188
welddata, 195
E
error levels, 231
ESAB AristoMig, 9
F
flystartdata, 175
Fronius, 9
G
gas purge, 31
Generic Equipment Class, 201, 215
I
increments, 31
installation options, 9
instructions
ArcC, 101
ArcCEnd, 110
ArcCStart, 120
ArcL, 129
ArcLEnd, 138
ArcLStart, 147
ArcMoveExtJ, 156
ArcRefresh, 158
RecoveryMenu, 160
RecoveryMenuWR, 162
RecoveryPosReset, 167
RecoveryPosSet, 164
SetWRProcName, 169
IVarValue, 14
L
Laser Tracker systems, 12
limitations
MultiMove, 41
Weld Repair, 75
Lincoln ArcLink, 9
M
manual gas purge, 31
manual mode functions, 26
manual wirefeed, 30
MultiMove
description, 35
programming, 37
O
Optical Sensor, 227
optical tracking, 15
Optical Tracking Arc, 10
Optical tracking Arc [660-1], 11
P
path correction instructions, 13
Path offset, 13
program controlled tuning, 11, 19
programming, 23
MultiMove, 37
Weld Error Recovery, 45
R
ReadBlock, 14
ReadVar, 14
RecoveryMenu, 160
RecoveryMenuWR, 162
RecoveryPosReset, 167
RecoveryPosSet, 164
S
seamdata, 176
seam tracking, 11, 13
sensor controlled tuning, 11, 18
Sensor Interface, 14
SetWRProcName, 169
Simulated Welder, 9
SKS SynchroWeld, 9
Standard I/O Welder, 9
T
Track
argument, 15
trackdata, 182
tuning
data, 32
increments, 31
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Index
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Index
A
Adaptive Process Control, 11
Additional Arc Systems, 10
advSeamData, 170
ArcC, 101
ArcCEnd, 110
ArcCStart, 120
arcdata, 173
Arc Equipment, 213
Arc Equipment Class, 214
ArcL, 129
ArcLEnd, 138
ArcLStart, 147
ArcMoveExtJ, 156
ArcRefresh, 158
Arc Robot Properties, 208
Arc System Properties, 204
Arc System settings, 203
Arc Units, 212
arc welding data, 21
arc welding instructions, 21
AristoMig, 9
auto mode functions, 26
B
blocking, 29
C
CorrClear, 13
CorrCon, 13
corrdescr, 13
CorrDiscon, 13
CorrRead, 13
CorrWrite, 13
D
data masking, 233
data tuning, 32
data types
advSeamData, 170
arcdata, 173
flystartdata, 175
seamdata, 176
trackdata, 182
weavedata, 188
welddata, 195
E
error levels, 231
ESAB AristoMig, 9
F
flystartdata, 175
Fronius, 9
G
gas purge, 31
Generic Equipment Class, 201, 215
I
increments, 31
installation options, 9
instructions
ArcC, 101
ArcCEnd, 110
ArcCStart, 120
ArcL, 129
ArcLEnd, 138
ArcLStart, 147
ArcMoveExtJ, 156
ArcRefresh, 158
RecoveryMenu, 160
RecoveryMenuWR, 162
RecoveryPosReset, 167
RecoveryPosSet, 164
SetWRProcName, 169
IVarValue, 14
L
Laser Tracker systems, 12
limitations
MultiMove, 41
Weld Repair, 75
Lincoln ArcLink, 9
M
manual gas purge, 31
manual mode functions, 26
manual wirefeed, 30
MultiMove
description, 35
programming, 37
O
Optical Sensor, 227
optical tracking, 15
Optical Tracking Arc, 10
Optical tracking Arc [660-1], 11
P
path correction instructions, 13
Path offset, 13
program controlled tuning, 11, 19
programming, 23
MultiMove, 37
Weld Error Recovery, 45
R
ReadBlock, 14
ReadVar, 14
RecoveryMenu, 160
RecoveryMenuWR, 162
RecoveryPosReset, 167
RecoveryPosSet, 164
S
seamdata, 176
seam tracking, 11, 13
sensor controlled tuning, 11, 18
Sensor Interface, 14
SetWRProcName, 169
Simulated Welder, 9
SKS SynchroWeld, 9
Standard I/O Welder, 9
T
Track
argument, 15
trackdata, 182
tuning
data, 32
increments, 31
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Index
program controlled, 19
sensor controlled, 18
weave data, 28
weld data, 27
U
unit settings, 205
W
weavedata, 188
welddata, 195
weld error handling, 43
Weld Error Recovery
description, 43
programming, 45
weld errors, 43
WeldGuide [815-1], 11
WeldGuide Tracker systems, 12, 16
Weld Repair
configuring, 77
description, 75
wirefeed, 30
WriteBlock, 14
242
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Index
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| 242
|
Index
A
Adaptive Process Control, 11
Additional Arc Systems, 10
advSeamData, 170
ArcC, 101
ArcCEnd, 110
ArcCStart, 120
arcdata, 173
Arc Equipment, 213
Arc Equipment Class, 214
ArcL, 129
ArcLEnd, 138
ArcLStart, 147
ArcMoveExtJ, 156
ArcRefresh, 158
Arc Robot Properties, 208
Arc System Properties, 204
Arc System settings, 203
Arc Units, 212
arc welding data, 21
arc welding instructions, 21
AristoMig, 9
auto mode functions, 26
B
blocking, 29
C
CorrClear, 13
CorrCon, 13
corrdescr, 13
CorrDiscon, 13
CorrRead, 13
CorrWrite, 13
D
data masking, 233
data tuning, 32
data types
advSeamData, 170
arcdata, 173
flystartdata, 175
seamdata, 176
trackdata, 182
weavedata, 188
welddata, 195
E
error levels, 231
ESAB AristoMig, 9
F
flystartdata, 175
Fronius, 9
G
gas purge, 31
Generic Equipment Class, 201, 215
I
increments, 31
installation options, 9
instructions
ArcC, 101
ArcCEnd, 110
ArcCStart, 120
ArcL, 129
ArcLEnd, 138
ArcLStart, 147
ArcMoveExtJ, 156
ArcRefresh, 158
RecoveryMenu, 160
RecoveryMenuWR, 162
RecoveryPosReset, 167
RecoveryPosSet, 164
SetWRProcName, 169
IVarValue, 14
L
Laser Tracker systems, 12
limitations
MultiMove, 41
Weld Repair, 75
Lincoln ArcLink, 9
M
manual gas purge, 31
manual mode functions, 26
manual wirefeed, 30
MultiMove
description, 35
programming, 37
O
Optical Sensor, 227
optical tracking, 15
Optical Tracking Arc, 10
Optical tracking Arc [660-1], 11
P
path correction instructions, 13
Path offset, 13
program controlled tuning, 11, 19
programming, 23
MultiMove, 37
Weld Error Recovery, 45
R
ReadBlock, 14
ReadVar, 14
RecoveryMenu, 160
RecoveryMenuWR, 162
RecoveryPosReset, 167
RecoveryPosSet, 164
S
seamdata, 176
seam tracking, 11, 13
sensor controlled tuning, 11, 18
Sensor Interface, 14
SetWRProcName, 169
Simulated Welder, 9
SKS SynchroWeld, 9
Standard I/O Welder, 9
T
Track
argument, 15
trackdata, 182
tuning
data, 32
increments, 31
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241
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© Copyright 2004-2024 ABB. All rights reserved.
Index
program controlled, 19
sensor controlled, 18
weave data, 28
weld data, 27
U
unit settings, 205
W
weavedata, 188
welddata, 195
weld error handling, 43
Weld Error Recovery
description, 43
programming, 45
weld errors, 43
WeldGuide [815-1], 11
WeldGuide Tracker systems, 12, 16
Weld Repair
configuring, 77
description, 75
wirefeed, 30
WriteBlock, 14
242
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Index
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| 243
|
program controlled, 19
sensor controlled, 18
weave data, 28
weld data, 27
U
unit settings, 205
W
weavedata, 188
welddata, 195
weld error handling, 43
Weld Error Recovery
description, 43
programming, 45
weld errors, 43
WeldGuide [815-1], 11
WeldGuide Tracker systems, 12, 16
Weld Repair
configuring, 77
description, 75
wirefeed, 30
WriteBlock, 14
242
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© Copyright 2004-2024 ABB. All rights reserved.
Index
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
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 New 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
3HAC050988-001, Rev L, en
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Arc_and_Arc_Sensor
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| 244
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
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 New 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
3HAC050988-001, Rev L, en
© Copyright 2004-2024 ABB. All rights reserved.
Specifications subject to change without notice.
|
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ROBOTICS
Operating manual
IRC5 Integrator's guide
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Checked in 2025-02-21
Skribenta version 5.6.018
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ROBOTICS
Operating manual
IRC5 Integrator's guide
![Image]
Trace back information:
Workspace 25A version a6
Checked in 2025-02-21
Skribenta version 5.6.018
Operating manual
IRC5 Integrator's guide
RobotWare 6.16
Document ID: 3HAC050940-001
Revision: S
© Copyright 2025 ABB. All rights reserved.
Specifications subject to change without notice.
|
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Workspace 25A version a6
Checked in 2025-02-21
Skribenta version 5.6.018
Operating manual
IRC5 Integrator's guide
RobotWare 6.16
Document ID: 3HAC050940-001
Revision: S
© Copyright 2025 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 2025 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 4
|
Operating manual
IRC5 Integrator's guide
RobotWare 6.16
Document ID: 3HAC050940-001
Revision: S
© Copyright 2025 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 2025 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
9
Overview of this manual ...................................................................................................................
13
Network security ...............................................................................................................................
14
Open source and 3rd party components .........................................................................................
15
Product documentation ....................................................................................................................
17
1
Welcome to IRC5
17
1.1
About this section .............................................................................................
18
1.2
The IRC5 controller ...........................................................................................
19
1.3
The FlexPendant ...............................................................................................
26
1.4
RobotStudio .....................................................................................................
27
1.5
When to use different jogging devices ...................................................................
30
1.6
Buttons and ports on the controller .......................................................................
33
2
Get started
33
2.1
About this chapter .............................................................................................
34
2.2
Connections .....................................................................................................
34
2.2.1
Connecting a FlexPendant ........................................................................
36
2.2.2
Using the hot plug option ..........................................................................
39
2.2.3
Set up the network connection ...................................................................
41
2.3
Action scenarios ...............................................................................................
41
2.3.1
About action scenarios .............................................................................
42
2.3.2
System start ...........................................................................................
44
2.3.3
Working with inputs and outputs ................................................................
45
2.3.4
Backup and restore .................................................................................
46
2.3.5
Upgrading ..............................................................................................
47
2.3.6
Installing RobotWare add-ins .....................................................................
49
3
Programming
49
3.1
Before you start programming .............................................................................
50
3.2
The structure of a RAPID application ....................................................................
52
3.3
Programming ...................................................................................................
52
3.3.1
Handling of programs ..............................................................................
55
3.3.2
Handling of modules ................................................................................
58
3.3.3
Handling of routines ................................................................................
63
3.4
Data types .......................................................................................................
63
3.4.1
Creating new data instance .......................................................................
65
3.5
Tools ..............................................................................................................
65
3.5.1
Creating a tool ........................................................................................
68
3.5.2
Defining the tool frame .............................................................................
72
3.5.3
Editing the tool data .................................................................................
75
3.5.4
Setup for stationary tools ..........................................................................
77
3.6
Work objects ....................................................................................................
77
3.6.1
Creating a work object .............................................................................
78
3.6.2
Defining the work object coordinate system .................................................
82
3.6.3
Editing the work object data ......................................................................
83
3.6.4
Editing the work object declaration .............................................................
84
3.7
Payloads .........................................................................................................
84
3.7.1
Creating a payload ..................................................................................
86
3.7.2
Editing the payload data ...........................................................................
88
3.8
Advanced programming .....................................................................................
88
3.8.1
Mirroring a program, module, or routine ......................................................
90
3.8.2
Editing instruction expressions and declarations ...........................................
93
3.8.3
Hiding declarations in program code ...........................................................
94
3.8.4
Deleting programs from memory ................................................................
96
3.8.5
Deleting programs from hard disk ..............................................................
97
3.8.6
Activating mechanical units .......................................................................
Operating manual - IRC5 Integrator's guide
5
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
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| 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 2025 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
9
Overview of this manual ...................................................................................................................
13
Network security ...............................................................................................................................
14
Open source and 3rd party components .........................................................................................
15
Product documentation ....................................................................................................................
17
1
Welcome to IRC5
17
1.1
About this section .............................................................................................
18
1.2
The IRC5 controller ...........................................................................................
19
1.3
The FlexPendant ...............................................................................................
26
1.4
RobotStudio .....................................................................................................
27
1.5
When to use different jogging devices ...................................................................
30
1.6
Buttons and ports on the controller .......................................................................
33
2
Get started
33
2.1
About this chapter .............................................................................................
34
2.2
Connections .....................................................................................................
34
2.2.1
Connecting a FlexPendant ........................................................................
36
2.2.2
Using the hot plug option ..........................................................................
39
2.2.3
Set up the network connection ...................................................................
41
2.3
Action scenarios ...............................................................................................
41
2.3.1
About action scenarios .............................................................................
42
2.3.2
System start ...........................................................................................
44
2.3.3
Working with inputs and outputs ................................................................
45
2.3.4
Backup and restore .................................................................................
46
2.3.5
Upgrading ..............................................................................................
47
2.3.6
Installing RobotWare add-ins .....................................................................
49
3
Programming
49
3.1
Before you start programming .............................................................................
50
3.2
The structure of a RAPID application ....................................................................
52
3.3
Programming ...................................................................................................
52
3.3.1
Handling of programs ..............................................................................
55
3.3.2
Handling of modules ................................................................................
58
3.3.3
Handling of routines ................................................................................
63
3.4
Data types .......................................................................................................
63
3.4.1
Creating new data instance .......................................................................
65
3.5
Tools ..............................................................................................................
65
3.5.1
Creating a tool ........................................................................................
68
3.5.2
Defining the tool frame .............................................................................
72
3.5.3
Editing the tool data .................................................................................
75
3.5.4
Setup for stationary tools ..........................................................................
77
3.6
Work objects ....................................................................................................
77
3.6.1
Creating a work object .............................................................................
78
3.6.2
Defining the work object coordinate system .................................................
82
3.6.3
Editing the work object data ......................................................................
83
3.6.4
Editing the work object declaration .............................................................
84
3.7
Payloads .........................................................................................................
84
3.7.1
Creating a payload ..................................................................................
86
3.7.2
Editing the payload data ...........................................................................
88
3.8
Advanced programming .....................................................................................
88
3.8.1
Mirroring a program, module, or routine ......................................................
90
3.8.2
Editing instruction expressions and declarations ...........................................
93
3.8.3
Hiding declarations in program code ...........................................................
94
3.8.4
Deleting programs from memory ................................................................
96
3.8.5
Deleting programs from hard disk ..............................................................
97
3.8.6
Activating mechanical units .......................................................................
Operating manual - IRC5 Integrator's guide
5
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
98
3.9
Hide RAPID arguments ......................................................................................
101
4
Handling inputs and outputs, I/O
101
4.1
Basic procedures ..............................................................................................
101
4.1.1
Configuring I/O .......................................................................................
102
4.1.2
Deactivating and activating I/O units ...........................................................
103
4.1.3
Alias I/O signals ......................................................................................
105
4.2
Safety signals ...................................................................................................
105
4.2.1
Safety I/O signals ....................................................................................
109
5
Systems
109
5.1
What is a system? .............................................................................................
110
5.2
Memory and file handling ....................................................................................
110
5.2.1
What is “the memory”? .............................................................................
111
5.2.2
File handling ..........................................................................................
113
5.2.3
Setting default paths ................................................................................
114
5.3
Restart procedures ............................................................................................
114
5.3.1
Advanced restart .....................................................................................
116
5.3.2
Using the Boot Application ........................................................................
120
5.3.3
Restart and use the current system ............................................................
121
5.3.4
Restart and start boot application ...............................................................
122
5.3.5
Restart and reset RAPID ...........................................................................
123
5.3.6
Restart and reset system ..........................................................................
124
5.3.7
Restart and revert to last auto saved ...........................................................
125
5.3.8
Reflashing firmware .................................................................................
126
5.4
Installed Systems ..............................................................................................
126
5.4.1
Managing Installed Systems ......................................................................
128
5.4.2
RobotWare startup error ...........................................................................
129
5.5
Backup and restore systems ...............................................................................
129
5.5.1
What is saved on backup? ........................................................................
132
5.5.2
Backup the system ..................................................................................
134
5.5.3
Important when performing backups ...........................................................
136
5.5.4
Restore the system ..................................................................................
139
5.6
Diagnostic files .................................................................................................
139
5.6.1
Creating a diagnostic file ..........................................................................
140
5.7
System configuration .........................................................................................
140
5.7.1
Configuring system parameters .................................................................
143
6
RobotWare installation concept
143
6.1
Introduction ......................................................................................................
146
6.2
Working with the repository .................................................................................
146
6.2.1
Recommended working procedure .............................................................
148
6.2.2
Setting up the repository ..........................................................................
151
6.2.3
Creating a base system ............................................................................
153
6.2.4
Creating an application system ..................................................................
155
6.2.5
Defining controllers .................................................................................
157
6.2.6
Creating an installation package ................................................................
160
6.2.7
Creating an update package ......................................................................
162
6.2.8
Repository folders and file structure ...........................................................
168
6.3
Deploying installation and update packages ...........................................................
168
6.3.1
Overview ...............................................................................................
169
6.3.2
Installing a RobotWare system using Boot Application ...................................
178
6.3.3
Updating a RobotWare system ..................................................................
181
6.4
The recovery disk function ..................................................................................
183
6.5
Limitations .......................................................................................................
185
7
Calibrating
185
7.1
Robot calibration ...............................................................................................
6
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
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ABB_Operating_Manual_IRC5_Integrators_Guide
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| 6
|
Table of contents
9
Overview of this manual ...................................................................................................................
13
Network security ...............................................................................................................................
14
Open source and 3rd party components .........................................................................................
15
Product documentation ....................................................................................................................
17
1
Welcome to IRC5
17
1.1
About this section .............................................................................................
18
1.2
The IRC5 controller ...........................................................................................
19
1.3
The FlexPendant ...............................................................................................
26
1.4
RobotStudio .....................................................................................................
27
1.5
When to use different jogging devices ...................................................................
30
1.6
Buttons and ports on the controller .......................................................................
33
2
Get started
33
2.1
About this chapter .............................................................................................
34
2.2
Connections .....................................................................................................
34
2.2.1
Connecting a FlexPendant ........................................................................
36
2.2.2
Using the hot plug option ..........................................................................
39
2.2.3
Set up the network connection ...................................................................
41
2.3
Action scenarios ...............................................................................................
41
2.3.1
About action scenarios .............................................................................
42
2.3.2
System start ...........................................................................................
44
2.3.3
Working with inputs and outputs ................................................................
45
2.3.4
Backup and restore .................................................................................
46
2.3.5
Upgrading ..............................................................................................
47
2.3.6
Installing RobotWare add-ins .....................................................................
49
3
Programming
49
3.1
Before you start programming .............................................................................
50
3.2
The structure of a RAPID application ....................................................................
52
3.3
Programming ...................................................................................................
52
3.3.1
Handling of programs ..............................................................................
55
3.3.2
Handling of modules ................................................................................
58
3.3.3
Handling of routines ................................................................................
63
3.4
Data types .......................................................................................................
63
3.4.1
Creating new data instance .......................................................................
65
3.5
Tools ..............................................................................................................
65
3.5.1
Creating a tool ........................................................................................
68
3.5.2
Defining the tool frame .............................................................................
72
3.5.3
Editing the tool data .................................................................................
75
3.5.4
Setup for stationary tools ..........................................................................
77
3.6
Work objects ....................................................................................................
77
3.6.1
Creating a work object .............................................................................
78
3.6.2
Defining the work object coordinate system .................................................
82
3.6.3
Editing the work object data ......................................................................
83
3.6.4
Editing the work object declaration .............................................................
84
3.7
Payloads .........................................................................................................
84
3.7.1
Creating a payload ..................................................................................
86
3.7.2
Editing the payload data ...........................................................................
88
3.8
Advanced programming .....................................................................................
88
3.8.1
Mirroring a program, module, or routine ......................................................
90
3.8.2
Editing instruction expressions and declarations ...........................................
93
3.8.3
Hiding declarations in program code ...........................................................
94
3.8.4
Deleting programs from memory ................................................................
96
3.8.5
Deleting programs from hard disk ..............................................................
97
3.8.6
Activating mechanical units .......................................................................
Operating manual - IRC5 Integrator's guide
5
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
98
3.9
Hide RAPID arguments ......................................................................................
101
4
Handling inputs and outputs, I/O
101
4.1
Basic procedures ..............................................................................................
101
4.1.1
Configuring I/O .......................................................................................
102
4.1.2
Deactivating and activating I/O units ...........................................................
103
4.1.3
Alias I/O signals ......................................................................................
105
4.2
Safety signals ...................................................................................................
105
4.2.1
Safety I/O signals ....................................................................................
109
5
Systems
109
5.1
What is a system? .............................................................................................
110
5.2
Memory and file handling ....................................................................................
110
5.2.1
What is “the memory”? .............................................................................
111
5.2.2
File handling ..........................................................................................
113
5.2.3
Setting default paths ................................................................................
114
5.3
Restart procedures ............................................................................................
114
5.3.1
Advanced restart .....................................................................................
116
5.3.2
Using the Boot Application ........................................................................
120
5.3.3
Restart and use the current system ............................................................
121
5.3.4
Restart and start boot application ...............................................................
122
5.3.5
Restart and reset RAPID ...........................................................................
123
5.3.6
Restart and reset system ..........................................................................
124
5.3.7
Restart and revert to last auto saved ...........................................................
125
5.3.8
Reflashing firmware .................................................................................
126
5.4
Installed Systems ..............................................................................................
126
5.4.1
Managing Installed Systems ......................................................................
128
5.4.2
RobotWare startup error ...........................................................................
129
5.5
Backup and restore systems ...............................................................................
129
5.5.1
What is saved on backup? ........................................................................
132
5.5.2
Backup the system ..................................................................................
134
5.5.3
Important when performing backups ...........................................................
136
5.5.4
Restore the system ..................................................................................
139
5.6
Diagnostic files .................................................................................................
139
5.6.1
Creating a diagnostic file ..........................................................................
140
5.7
System configuration .........................................................................................
140
5.7.1
Configuring system parameters .................................................................
143
6
RobotWare installation concept
143
6.1
Introduction ......................................................................................................
146
6.2
Working with the repository .................................................................................
146
6.2.1
Recommended working procedure .............................................................
148
6.2.2
Setting up the repository ..........................................................................
151
6.2.3
Creating a base system ............................................................................
153
6.2.4
Creating an application system ..................................................................
155
6.2.5
Defining controllers .................................................................................
157
6.2.6
Creating an installation package ................................................................
160
6.2.7
Creating an update package ......................................................................
162
6.2.8
Repository folders and file structure ...........................................................
168
6.3
Deploying installation and update packages ...........................................................
168
6.3.1
Overview ...............................................................................................
169
6.3.2
Installing a RobotWare system using Boot Application ...................................
178
6.3.3
Updating a RobotWare system ..................................................................
181
6.4
The recovery disk function ..................................................................................
183
6.5
Limitations .......................................................................................................
185
7
Calibrating
185
7.1
Robot calibration ...............................................................................................
6
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
186
7.2
How to check if the robot needs calibration ............................................................
187
7.3
Loading calibration data using the FlexPendant ......................................................
188
7.4
Editing motor calibration offset ............................................................................
189
7.5
Serial measurement board memory ......................................................................
192
7.6
4 points XZ calibration ........................................................................................
195
8
Descriptions of terms and concepts
195
8.1
What is the tool center point? ..............................................................................
197
8.2
What is a work object? .......................................................................................
198
8.3
What is a coordinate system? ..............................................................................
205
8.4
What is mirroring? .............................................................................................
211
9
Cybersecurity for IRC5 robot networks
211
9.1
Introduction ......................................................................................................
213
9.2
Network architecture and communication ..............................................................
216
9.3
Security analysis ...............................................................................................
217
9.4
IRC5 User Authorization System .........................................................................
219
9.5
Security policy ..................................................................................................
219
9.5.1
Introduction ............................................................................................
220
9.5.2
General security requirements ...................................................................
224
9.5.3
ABB Robotics IRC5 product specific requirements ........................................
227
9.6
IRC5 application protocols ..................................................................................
231
9.7
Network connections on the IRC5 main computer ...................................................
237
Index
Operating manual - IRC5 Integrator's guide
7
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 7
|
98
3.9
Hide RAPID arguments ......................................................................................
101
4
Handling inputs and outputs, I/O
101
4.1
Basic procedures ..............................................................................................
101
4.1.1
Configuring I/O .......................................................................................
102
4.1.2
Deactivating and activating I/O units ...........................................................
103
4.1.3
Alias I/O signals ......................................................................................
105
4.2
Safety signals ...................................................................................................
105
4.2.1
Safety I/O signals ....................................................................................
109
5
Systems
109
5.1
What is a system? .............................................................................................
110
5.2
Memory and file handling ....................................................................................
110
5.2.1
What is “the memory”? .............................................................................
111
5.2.2
File handling ..........................................................................................
113
5.2.3
Setting default paths ................................................................................
114
5.3
Restart procedures ............................................................................................
114
5.3.1
Advanced restart .....................................................................................
116
5.3.2
Using the Boot Application ........................................................................
120
5.3.3
Restart and use the current system ............................................................
121
5.3.4
Restart and start boot application ...............................................................
122
5.3.5
Restart and reset RAPID ...........................................................................
123
5.3.6
Restart and reset system ..........................................................................
124
5.3.7
Restart and revert to last auto saved ...........................................................
125
5.3.8
Reflashing firmware .................................................................................
126
5.4
Installed Systems ..............................................................................................
126
5.4.1
Managing Installed Systems ......................................................................
128
5.4.2
RobotWare startup error ...........................................................................
129
5.5
Backup and restore systems ...............................................................................
129
5.5.1
What is saved on backup? ........................................................................
132
5.5.2
Backup the system ..................................................................................
134
5.5.3
Important when performing backups ...........................................................
136
5.5.4
Restore the system ..................................................................................
139
5.6
Diagnostic files .................................................................................................
139
5.6.1
Creating a diagnostic file ..........................................................................
140
5.7
System configuration .........................................................................................
140
5.7.1
Configuring system parameters .................................................................
143
6
RobotWare installation concept
143
6.1
Introduction ......................................................................................................
146
6.2
Working with the repository .................................................................................
146
6.2.1
Recommended working procedure .............................................................
148
6.2.2
Setting up the repository ..........................................................................
151
6.2.3
Creating a base system ............................................................................
153
6.2.4
Creating an application system ..................................................................
155
6.2.5
Defining controllers .................................................................................
157
6.2.6
Creating an installation package ................................................................
160
6.2.7
Creating an update package ......................................................................
162
6.2.8
Repository folders and file structure ...........................................................
168
6.3
Deploying installation and update packages ...........................................................
168
6.3.1
Overview ...............................................................................................
169
6.3.2
Installing a RobotWare system using Boot Application ...................................
178
6.3.3
Updating a RobotWare system ..................................................................
181
6.4
The recovery disk function ..................................................................................
183
6.5
Limitations .......................................................................................................
185
7
Calibrating
185
7.1
Robot calibration ...............................................................................................
6
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
186
7.2
How to check if the robot needs calibration ............................................................
187
7.3
Loading calibration data using the FlexPendant ......................................................
188
7.4
Editing motor calibration offset ............................................................................
189
7.5
Serial measurement board memory ......................................................................
192
7.6
4 points XZ calibration ........................................................................................
195
8
Descriptions of terms and concepts
195
8.1
What is the tool center point? ..............................................................................
197
8.2
What is a work object? .......................................................................................
198
8.3
What is a coordinate system? ..............................................................................
205
8.4
What is mirroring? .............................................................................................
211
9
Cybersecurity for IRC5 robot networks
211
9.1
Introduction ......................................................................................................
213
9.2
Network architecture and communication ..............................................................
216
9.3
Security analysis ...............................................................................................
217
9.4
IRC5 User Authorization System .........................................................................
219
9.5
Security policy ..................................................................................................
219
9.5.1
Introduction ............................................................................................
220
9.5.2
General security requirements ...................................................................
224
9.5.3
ABB Robotics IRC5 product specific requirements ........................................
227
9.6
IRC5 application protocols ..................................................................................
231
9.7
Network connections on the IRC5 main computer ...................................................
237
Index
Operating manual - IRC5 Integrator's guide
7
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© Copyright 2025 ABB. All rights reserved.
Table of contents
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186
7.2
How to check if the robot needs calibration ............................................................
187
7.3
Loading calibration data using the FlexPendant ......................................................
188
7.4
Editing motor calibration offset ............................................................................
189
7.5
Serial measurement board memory ......................................................................
192
7.6
4 points XZ calibration ........................................................................................
195
8
Descriptions of terms and concepts
195
8.1
What is the tool center point? ..............................................................................
197
8.2
What is a work object? .......................................................................................
198
8.3
What is a coordinate system? ..............................................................................
205
8.4
What is mirroring? .............................................................................................
211
9
Cybersecurity for IRC5 robot networks
211
9.1
Introduction ......................................................................................................
213
9.2
Network architecture and communication ..............................................................
216
9.3
Security analysis ...............................................................................................
217
9.4
IRC5 User Authorization System .........................................................................
219
9.5
Security policy ..................................................................................................
219
9.5.1
Introduction ............................................................................................
220
9.5.2
General security requirements ...................................................................
224
9.5.3
ABB Robotics IRC5 product specific requirements ........................................
227
9.6
IRC5 application protocols ..................................................................................
231
9.7
Network connections on the IRC5 main computer ...................................................
237
Index
Operating manual - IRC5 Integrator's guide
7
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Table of contents
This page is intentionally left blank
Overview of this manual
About this manual
This manual contains advanced instructions for IRC5 based robot systems using
a FlexPendant.
The daily operations are described in Operating manual - IRC5 with FlexPendant .
This manual describes aspects for commissioning, as well as advanced instructions
that are not used by the operator during ordinary operation.
Note
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Usage
This manual should be used during commissioning and when making changes to
the robot system that are outside the scope of everyday operations. This manual
needs to be complemented with Operating manual - IRC5 with FlexPendant that
describes more common operations.
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.
Who should read this manual?
This manual is intended for:
•
integrators
•
product technicians
•
service technicians
•
robot programmers
Prerequisites
The reader should:
•
Be familiar with the concepts described in Operating manual - Getting started,
IRC5 and RobotStudio .
•
Be trained in robot operation.
References
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC027097-001
Operating manual - Getting started, IRC5 and RobotStudio
3HAC021313-001
Product manual - IRC5
IRC5 with main computer DSQC 639.
3HAC047136-001
Product manual - IRC5
IRC5 with main computer DSQC1000 or later.
Continues on next page
Operating manual - IRC5 Integrator's guide
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3HAC050940-001 Revision: S
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