Installation and Commissioning

SpotWare 3.1Immediate move after Move enableThe robot moves immediately when enable is given. This is achieved by preparing thenext action while waiting for the current weld to be completed.Gun controlThe system supports double guns, small and large strokes and gun pressure control.Several guns can be controlled in the same program.Testing the programThe program can be run one instruction at a time, both forwards and backwards. Whenit is run backwards, only motion instructions, together with an inverted gun movement,are executed. The program can also be test run without connecting a weld timer or spotwelding gun. This makes the program easier to test.ReweldsA function that can be configured to order one or more automatic rewelds or, when theprogram is restarted after an error, a manual reweld.Process error routinesIn the event of a process error, installation-specific routines, such as go-to-serviceposition, can be ordered manually. When the appropriate routine has been performed,the weld cycle continues from where it was interrupted.Manual welding independent of positioningA spot weld can be ordered manually at the current robot position. This is implementedin a similar way as for program execution, i.e. with gun control and processsupervision. It is also possible to order a separate gun control with full supervision.Interface signalsThe following process signals are, if installed, handled automatically by SpotWare.Digital outputsDescriptionstart 1 start signal to the weld timer (tip 1)start 2 start signal to the weld timer (tip 2)close tip 1 close gun (tip 1)close tip 2 close gun (tip 2)work selectselect work or retract stroke of the gunprogram parityweld program parity bitreset faultreset the weld timerprocess erroroperator request is set when an error occurscurrent enableweld inhibit to the weld timerp2 request set pressure 2p3 request set pressure 3p4 request set pressure 4weld poweractivate the weld power unit contactorwater startactivate water cooling34 Product Specification RobotWare for BaseWare OS 3.1