Installation and Commissioning

GlueWare 3.14.5 GlueWare 3.1GlueWare comprises a large number of dedicated gluing functions which make therobot well suited for gluing and sealing. It is a simple yet powerful program since boththe positioning of the robot and the process control are handled in one and the sameinstruction.I/O signals and timing sequences can be easily configured to meet the requirements ofa specific installation.GlueWare functionsA few examples of some useful functions are given below.Adaptation to different gluing gunsBoth on/off guns and proportional guns can be handled. Furthermore, time delays canbe specified for the gluing guns in order to obtain the correct thickness of glue orsealing compound and application at the specified time.Two gluing gunsOne or two gluing guns can be controlled. Up to two analog outputs can be controlledfor each gun.Velocity independent glue string thicknessThe thickness of the glue string can be made independent on the robot’s velocity bycontrolling the gluing gun with a signal that reflects the robot’s velocity. When therobot velocity is reduced, the flow of glue will be automatically reduced. The robot cancompensate for a gun delay of up to 500 ms, thanks to a proactive signal.Flow change at a specific positionFlow changes (incl. start and stop) can be put into the programmed path, also wherethere are no programmed positions. These positions will remain fixed even when thevelocity is changed, which makes the programming much simpler.Global flow changesThe glue flow can be changed for the whole program just by changing one value.Program testing without glueGluing can be temporarily blocked in order to be able to test the robot’s movementswithout any glue flow.38 Product Specification RobotWare for BaseWare OS 3.1