Installation and Commissioning

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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
GlueWare 3.1Interface signalsWhen installed, the following process signals are handled automatically by GlueWare.Analog outputsDescriptiongun1 flow1 Glue flow reference gun 1gun1 flow 2 Glue flow reference gun 1gun2 flow1 Glue flow reference gun 2gun2 flow 2 Glue flow reference gun 2Digital outputsDescriptiongun 1 on/offglue off/on gun1gun 2 on/off glue off/on gun 2overspeed errorthe calculated value of an analog output signal isgreater than its logical max. valueprocess errorerror during gluingUser defined routinesThe following routines are predefined but can be adapted to suit the current installation.Routinepreglue actionspostglue actionspower on actionrestart actionstop actionemergency stop actionDescriptionactivity to be carried out in the beginning of theglue stringactivity to be carried out at the end of theglue stringactivity to be carried out at power-onactivity to be carried out at program startactivity to be carried out at program stopactivity to be carried out in the event of anemergency stop or other safeguarded space stopThe option Advanced functions is included.RAPID instructions included in this optionGlueLGlueCGluing with linear movementGluing with circular movementProduct Specification RobotWare for BaseWare OS 3.1 39
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3HAC 2914-1M98Product On-line Manua
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ABB Flexible Automation ABProduct M
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IntroductionCONTENTSPage1 How to us
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IntroductionIntroduction1 How to us
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Introduction.ABB Robotics Products
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Product Specification IRB 1400CONTE
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Introduction1 IntroductionThank you
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Description2 Description2.1 Structu
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DescriptionRestricting the working
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DescriptionUsing a key switch, the
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DescriptionEditing programsPrograms
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DescriptionThe robot has several fu
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DescriptionMotion performanceThe Qu
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Description2.9 External AxesThe rob
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Technical specification3 Technical
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Technical specification150667398475
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Technical specification3.3 Operatio
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Technical specificationMounting of
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Technical specificationATan/ATan2Co
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Technical specification3.10 Inputs
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Safety8.2 Tools/workpiecesIt must b
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Safety- The external voltage connec
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To the User“Declaration by the ma
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System DescriptionCONTENTSPage1 Str
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System DescriptionStructure1 Struct
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System DescriptionStructureAxis 3Up
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System DescriptionComputer System2
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Installation and CommissioningCONTE
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MaintenanceCONTENTSPage1 Maintenanc
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MaintenanceMaintenanceThe robot is
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Maintenance2.3 Lubricating spring b
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Maintenance2.7 Changing the battery
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Troubleshooting ToolsCONTENTSPage1
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Fault tracing guideCONTENTSPage1 Fa
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ABB Flexible Automation ABThis chap
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RepairsCONTENTSPage7.3 Changing the
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General DescriptionRepairsAxis 1 ro
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General DescriptionRepairs1.2 Cauti
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General DescriptionRepairs12. The s
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General DescriptionRepairs1.5 Tight
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Axis 1Repairs2.2 Changing the gearb
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Axis 1Repairs2.4 Replacing the mech
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Axis 2 Repairs3.2 Changing the gear
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Axis 2 Repairs3.5 Dismantling the b
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Axis 3Repairs4.2 Changing the gearb
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Axis 3Repairs4.5 Dismantling the co
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Axis 4 Repairs14. Connect the cabli
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The Wrist and Axes 5 and 6Repairs7.
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Motor UnitsRepairs38 Product Manual
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CalibrationRepairs5. Press Enter .6
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CalibrationRepairs13. Release the b
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CalibrationRepairsCalibration plate
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CalibrationRepairs2. Select Service
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