点焊2 - 副本.docx

ABB RoboticsApplication manualSpot optionsTrace back information:Workspace R13-1 version a9Checked in 2013-04-03Skribenta version 4.0.006Application manualSpot optionsRobotWare 5.15.01Document ID: 3HAC024762-001Revision: L Copyright 2004-2013 ABB. All rights reserved.The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABBswritten permission.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English. Copyright 2004-2013 ABB. All rights reserved.ABB ABRobotics ProductsSE-721 68 VstersSwedenTable of contentsOverview of this manual . 9Product documentation, M2004 . 11Safety . 131 Introduction to RobotWare Spot 151.1 Spot options and features . 151.2 Principles of the Spot options . 181.3 Programming principles . 192 Programming 212.1 Introduction to programming . 212.2 Quick start for servo gun . 222.3 Spot weld instructions . 262.3.1 Programming examples for one gun . 292.3.2 Programming examples for two guns . 312.4 Editing spot welding instructions . 332.5 Testing spot weld instructions in simulated mode . 342.6 Gun preclosing . 352.7 Gun equalizing options . 362.8 Manual actions . 372.9 Process sequence and error handling . 392.10 Weld process timing . 492.11 Jogging the robot after unintentional servo gun disconnection . 522.12 Tip dressing for servo guns . 532.13 Pneumatic spot welding gun and gripper . 543 Software Equalizing 553.1 Introduction to Software Equalizing . 553.2 Some basic definitions . 573.3 Weld position Touch Up . 593.4 Releasing of the fixed gun arm and gun opening . 613.5 Gun arm deflection compensation . 633.6 Tip wear compensation . 663.7 Setup data for Software Equalizing . 713.8 SoftMove Equalizing . 724 RAPID references 814.1 Instructions . 814.1.1 SpotL/SpotJ - The basic spot welding instructions . 814.1.2 SpotML/SpotMJ - Spot welding with multiple guns . 864.1.3 SetForce - Close the gun with desired force . 904.1.4 CalibL/CalibJ - Calibrate the gun during movement . 934.1.5 Calibrate - Calibrate the gun . 984.1.6 OpenHighLift/CloseHighLift - Open or close the gun . 1014.1.7 IndGunMove - Activates independent mode for a servo gun . 1034.1.8 IndGunMoveReset - Resets servo gun from independent mode . 1054.1.9 MeasureWearL - Measure current electrode wear . 1064.1.10 ReCalcTCP - Recalculate the TCP . 1134.2 Data types . 1164.2.1 gundata - Equipment specific weld data . 1164.2.2 spotdata - Spot weld data . 1234.2.3 forcedata - Spot gun force data . 1264.2.4 simdata - Simulation data . 1284.2.5 smeqdata - SoftMove Equalizing data . 1303HAC024762-001 Revision: L 5 Copyright 2004-2013 ABB. All rights reserved. Table of contents4.3 Global Instructions and Functions . 1324.3.1 SwGetCurrTargetName - Get the current robtarget name . 1324.3.2 SwGetCurrSpotName - Get the current spotdata name . 1335 System modules 1355.1 SWUSER . 1355.2 SWDEFUSR . 1425.3 SWDEFINE . 1495.4 SWSUP . 1516 I/O configuration 1536.1 I/O configuration . 1536.2 Default setup - virtual I/O unit description . 1546.3 Default setup - virtual signal description . 1556.4 Bosch Compact AC weld timer . 1586.5 Bosch Standard AC/MFDC weld timers . 1617 Motion control 1657.1 Servo gun introduction . 1657.2 General motion control for servo guns . 1667.3 Asynchronous movements with force control . 1687.4 Tip management . 1707.5 Installation and Service . 1727.6 Stationary gun . 1787.7 Servo tool change . 1798 FlexPendant Interface 1818.1 Application Overview . 1818.2 Main View . 1828.3 Process Signals . 1858.4 Process Data . 1888.5 Manual Actions . 1918.6 Customizing the GUI . 1929 Bosch FlexPendant Interface 1939.1 Application Overview . 1939.2 Pre Warning . 1969.3 Weld Fault . 1979.4 Last Weld . 1989.5 Weld Parameters . 1999.6 SIO configuration for Bosch Weld Timer Interface . 20910 Customizing RobotWare-Spot 21110.1 Introduction . 21110.2 Files to be changed during customizing . 21210.3 Customizing guides . 21510.3.1 How to simulate not used signals from the process sequence . 21510.3.2 How to remove not used signals . 21610.3.3 How to change the number of guns to be used . 21810.3.4 How to define max/min values for data components . 21910.3.5 How to change the Spot data types . 22010.3.6 How to add functionality in the process sequence . 22110.3.7 How to add equipment specific supervision and error handling . 22210.3.8 How to use own signal names on internal used signals . 22310.3.9 How to use spot data programmed in the weld timer . 22410.3.10 How to hide the mechanical gun equalize function . 22510.3.11 How to set the number of automatic rewelds after weld error . 2266 3HAC024762-001 Revision: L Copyright 2004-2013 ABB. All rights reserved. Table of contents10.3.12 How to change the number of process tasks installed . 22710.3.13 How to configure arm deflection compensation in other directions . 22910.3.14 How to use dnum weld program numbers (32 bit signal group) . 23010.3.15 How to package and install the result from the customizing . 232Index 2333HAC024762-001 Revision: L 7 Copyright 2004-2013 ABB. All rights reserved. Table of contentsThis page is intentionally left blank应用手册地点的选择追溯信息:工作区R13-1版本a9检查在2013-04-034.0.006 Skribenta版本应用手册地点的选择RobotWare 5.15.01文档ID:3 hac024762 - 001修订:L版权2004 - 2013 ABB。保留所有权利。本手册中的信息可随时更改,不另行通知,不应该被视为由ABB承诺。ABB为任何错误不承担任何责任可能出现在本手册。除明确规定在本手册的任何地方,此处的任何条款都不解释为任何形式的担保或保证由ABB损失,赔偿金人或财产,或像健身为特定目的。在任何事件ABB应当引起的意外或间接损失负责使用本手册和产品介绍。本手册和部分不得转载或复制没有羊毛的书面许可。本手册可能从ABB获得的额外副本。这个出版的原始语言是英语。任何其他语言从英语翻译提供。版权2004 - 2013 ABB。保留所有权利。ABB AB机器人产品韦斯特罗斯se - 721 721瑞典表的内容本手册.的概述9产品文档,M2004 .11安全.131介绍RobotWare 15点1.1 .现货期权和特性151.2现货期权.原则181.3编程原则.192编程212.1编程.概论212.2快速启动伺服枪.222.3 .点焊指令262.3.1一枪.编程示例29日2.3.2两枪.编程示例31日2.4编辑.点焊指令332.5测试在模拟模式.点焊指令342.6枪preclosing .352.7枪.均衡选项362.8手动操作.372.9过程和错误处理.序列392.10焊接过程.时机492.11慢跑机器人意外断开.伺服枪522.12提示敷料.伺服枪支532.13气动点焊机.的枪和爪543软件均衡553.1软件均衡.概论553.2 .一些基本的定义573.3焊缝位置.联系起来593.4释放开.固定枪的胳膊和枪61年3.5枪手臂.挠度补偿63年3.6提示.磨损补偿66年3.7为软件均衡.设置数据71年3.8 SoftMove均衡.72年4快速引用81年4.1指令.81年4.1.1 SpotL / SpotJ - .点焊的基本指令81年4.1.2 SpotML / SpotMJ -与多个枪支.点焊86年4.1.3 SetForce .关闭枪所需的力量90年4.1.4 CalibL / CalibJ -校准.枪在运动93年4.1.5 .校准,校准枪98年4.1.6 OpenHighLift / CloseHighLift -打开或关闭枪.101年4.1.7 IndGunMove -启动伺服枪.独立模式103年4.1.8 IndGunMoveReset重置伺服.枪