Professional Documents
Culture Documents
Manual
7002900-5060R
For GMT800
The information in this document is subject to change without notice and should not be constructed
as a commitment by ABB Flexible Automation Inc. ABB Flexible Automation Inc. assumes no
responsibility for any errors that may appear in the document.
In no event shall ABB Flexible Automation Inc. be liable for incidental or consequential damages
arising from use of this document or the software and hardware described in this document.
This document and parts thereof must not be reproduced or copied without ABB Flexible
Automation Inc.s written permission, and contents thereof must not be imparted to a third party
nor be used for any unauthorized purpose. Contravention will be prosecuted.
GMT800
Contents
1. Introduction
1.1
1.2
1.3
1.4
Motion Requests
Cycle Initiate
Path Routines
Style and option-specific path routines
Common Positions
Error Handling
3. Routines
3.1
3.2
3.3
3.4
3.5
3.6
General Routines
Process Routines
Common Routines
Style Routines
Typical Process Cycle Sequences
How to change the Process Cycle Sequence
4. Predefined Positions
4.1
4.2
General Positions
Process Positions
5. Instructions
AdvanceGun
ClearOfMachine
ClearOfMachineJ
ClearOfMachineL
ClearOfZone
ClearOfZoneJ
ClearOfZoneL
CloseRetract
DoAppOption
Version 1.3
Page 1(4)
Contents
GMT800
DoAppStyle
DoDropOffStyle
DoFFRStyle
DoPickUpStyle
DressTip
DropOffTool
EnteringMachine
EnterZone
ExchangeTool
GasFlowOff
GasFlowOn
GlueL
GripPart
HingeWeld
MoveJ
MoveL
OpenRetract
PickUpTool
PrepareToGrip
ReleasePart
RepositionTool
ReturnGun
Spot
Stud
VerifyRelease
WaitForMachClr
WorkComplete
6. Program Examples
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
Page 2(4)
Version 1.3
GMT800
Contents
7. Programming Features
8. Enable / Disable Features
Appendix
A
B
C
D
Programmer Modules
Predefined Path Routines
Glossary
Readers Comments
Version 1.3
Page 3(4)
Contents
GMT800
Page 4(4)
Version 1.3
GMT800
1.
Introduction
Introduction
This manual describes the S4c programming language, predefined routines and data
provided for the GMT800 program.
1.1
Version 1.2
Page 1(4)
Introduction
1.2
GMT800
Page 2(4)
Version 1.2
GMT800
1.3
Introduction
Typographic Conventions
The commands located under any of the five menu keys, at the top of the teach
pendant display, are written as Menu : Command. For example, to activate the
Print command in the file Menu, you choose File : Print.
The names on the function keys and in the entry fields are specified in bold italic
type face e.g. , Modpos. This is the same convention used in other S4 manuals. The
following conventions are unique for this manual:
Words belonging to the programming language, such as instruction names and
predefined positions, are written in italics, e.g., Home.
Routines are indicated by adding two brackets after the routine name, and are written
in italic type, e.g. Routine1(). When there are multiple routines with similar names a
x is used to indicate different names, i.e. Appx() stand for App1() and App2().
Examples of programs are always described as they are displayed on the TPU (Teach
Pendant Unit). Example of differences compared to a print-out are that certain
control words are masked on the teach pendant, such as words indicating the start
and stop of a routine or module. Data and routine declarations and instructions are
also not displayed on the TPU.
1.4
Syntax rules
Instructions are described using simplified syntax:
Compulsory Optional
argument
argument
Mutually exclusive
arguments
Version 1.2
Page 3(4)
Introduction
GMT800
Page 4(4)
Version 1.2
GMT800
2.
Basic Software
2.1
Motion requests
The Basic Software keeps track of the current location of the IRB, and after positive
validation, responds to motion requests from the PLC or TopHat. Motion requests
include requests from the PLC or TopHat to go to Repair or Home, or requests from
the TopHat to go to TipDress (in spot welding applications) or Purge (in dispensing
applications).
When the IRB is at the ordered position (e.g. Repair) the Basic software can receive
and respond to a request to return to the Home position.
The routines used by the Basic Software to perform these motion requests are
described in Section General Routines and Process Routines in Chapter 3.
The path defined in each of these routines has to be defined by the programmer to
meet the requirements of each installation.
Version 1.5
Page 1(8)
Basic Software
2.2
GMT800
Cycle initiate
The Basic Software coordinates the execution of the process cycle at the direction of
the PLC. When a Cycle Initiate request is received from the PLC, the Basic
Software indicates an in-cycle status to the PLC, retrieves and validates all of the
style and option information from the PLC, and then moves to Pounce, using the
HomeToPounce() routine.
The application programmer needs to define the path for the HomeToPounce()
routine.
2.3
Path routines
When the Basic Software receives a Proceed from Pounce request from the PLC, it
verifies that the IRB is in the Pounce position and then calls the correct path
routines, based on the content of the ProcessPath array. ProcessPath determines the
basic order in which steps within the process are executed. Its default content and
how to change it are described in detail in sections 3.5 and 3.6.
If the IRB is carrying the process equipment, one application is typically executed.
This is designated by the entry App1 in the ProcessPath, and requires the routine
App1() to be programmed. If the IRB is a material handler to pedestal-mounted
process equipment, a part pickup might typically be executed, followed by
application itself, followed by the dropoff of the part. This sequence is designated in
the ProcessPath with PickUp1, App1, and DropOff1 entries, and requires the
PickUp1(), App1(), and DropOff1() routines to be programmed.
If a second application is used, App2 is entered into the ProcessPath, and the App2()
routine programmed. A routine defining the path between the first and second
applications, App1ToApp2(), must also be programmed when a second application is
used, and the entry App1ToApp2 provided in the ProcessPath at the desired place in
the sequence.
Page 2(8)
Version 1.5
GMT800
2.4
Basic Software
2.5
Common positions
Common positions are used by the Basic Software to validate requests made of the
Basic Software by the PLC and the PC.
Examples of common positions that must be defined by the programmer are Home
and Repair.
The predefined positions are further described in Chapter 4 : Predefined Positions.
2.6
Error handling
Process faults are automatically detected by the Basic Software. On detection of a
major fault, the following actions are typically taken:
a fault condition and fault information are provided to the S4pc TopHat
After this, a dialog is displayed, and the operator is required to select the propper
action to take to recover from the fault. The selected action is then automatically
executed.
Version 1.5
Page 3(8)
Basic Software
GMT800
If a new start request is provided from the PLC, before the operator have made the
selection, a default response is provided in most cases, and the program execution is
resumed. The typical default response can be best summarized as follows:
1. Major fault caused by feedback signal Recheck
2. Major fault caused by Spot weld process Retry
3. Major fault caused by stud, dispense, or hinge process fault Repost major
fault (human intervention required)
DF+C disables the gun position fault monitoring, clears the fault, and continues with
the cycle. The fault monitoring is typically reenabled at next cycle.
Rechk rechecks the condition causing the fault. If the fault condition is still present,
the fault is issued once again. If the condition has been resolved, the fault is cleared
and the robot continues its cycle.
Abort terminates the process cycle. It is the responsibility of the operator to jog the
IRB out of the job. The program pointer is reset to the Main routine.
FFR (Fast Fault Recovery) performs the necessary mode changes to allow the
execution of the remainder of the process path without performing the application
process. On completion of the path, a second dialog is displayed requesting the
operator to select a recovery option:
Page 4(8)
Version 1.5
GMT800
Basic Software
Figure 2.2 FFR Recovery Dialog. After FFR is selected, the IRB
continues the application path to the last position in
the Appx() routine (or Repair position for carried
application) and a recovery dialog is displayed.
FFR is only provided for the applications during execution of the App1() and
App2() routines -- and is made for only one application at a time. No FFR is provided
for material handling pickup and dropoff sequences, or general path execution, such
as HomeToRepair().
All of this error handling is built into the Basic Software, and does not have to be
programmed by the application programmer, only the path routines used need to be
taught.
2.7
Version 1.5
Page 5(8)
Basic Software
GMT800
Spot welding
Pre-process
Carried:
Pedestal:
Post-process
Carried:
Pedestal:
Stud welding
Pre-process
Carried:
Initialize FFR and DF+C related memories
Update active head indices
Update Minor Fault statuses
Verify that no Weld control faults exist / generate major fault if
appropriate
Pedestal:
Initialize FFR and DF+C related memories
Update active head indexes
Update Minor Fault statuses
Verify that no Weld control faults exist / generate major fault if
appropriate
Start head retract monitoring on active head(s)
Post-process
Carried:
N/A
Pedestal:
Stop head retract monitoring on active head(s)
Clear DF+C memories and minor faults for: Turntable motor
overload, advance and retract copper backups.
Page 6(8)
Version 1.5
GMT800
Basic Software
Hinge welding
Pre-process
Carried:
Arm/disarm weld control mode
Initialize FFR related memories
Post-process
Carried:
Initiate anti spatter sequence
Dispensing
Pre-process
Carried:
Pedestal:
Post-process
Carried:
Pedestal:
Version 1.5
Page 7(8)
Basic Software
GMT800
Page 8(8)
Version 1.5
GMT800
3.
Routines
Routines
Ready to use routines are provided to simplify application path programming. This
chapter describes these routines, and how to program them.
Routines Provided
Four types of routines are provided:
General Routines
Process Routines
Common Routines
Style Routines
Page 1(18)
Routines
GMT800
The routines listed below are used to define the Process Cycle. There are two types of
routines: Common routines, which are called from the Basic Software, and Style routines,
which are optionally invoked from the Common routines. The Common routines are
listed in the order they are generally called. The style routines are listed under the
Common routines from which they may be invoked.
Common Routines
Style Routines
PickUp1()
PickUp1Style1()
PickUp1Style2()
PickUp1Style3()
PickUp2()
PickUp2Style1()
PickUp2Style2()
PickUp2Style3()
App1()
App1Style1()
App1Style1Option1()
App1Style2()
App1Style2()Option1()
App1Style3()
App1Style3()Option1()
App2()
App2Style1()
App2Style1Option1()
App2Style2()
App2Style2()Option1()
App2Style3()
App2Style3()Option1()
DropOff 1()
DropOff1Style1()
DropOff1Style2()
DropOff1Style3()
DropOff2()
DropOff2Style1()
DropOff2Style2()
DropOff2Style3()
To view the routines loaded in the IRB select View : Routines in the programming
window. By selecting Routine : In System all routines in the system are listed.
Page 2(18)
Version 1.5
GMT800
Routines
Routines Provided
The following pre-defined routines are provided in the PGENRPTH (Programmers
General PaTH) module:
HomeToRepair()
RepairToHome()
HomeToPounce()
PounceToHome()
MoveJ
Home,
v100,
fine,
ReplaceME
Replace_Me HomeToPounce
MoveJ
Pounce,
v100,
fine,
ReplaceME
Version 1.5
Page 3(18)
Routines
3.2
GMT800
Process Routines
Process routines are used to move the robot between process-specific, pre-defined
positions, such as Align, Purge, ToolChange, and TipDress.
Routines Provided
Hinge welding, PHINPTH
HomeToAlign()
AlignToHome()
Dispensing, PDISPTH
HomeToPurge()
PurgeToHome()
HomeToAlign()
AlignToHome()
TipDressToHome()
AlignToHome()
HomeToTC1PickUp()
HomeToTC2 DropOff()
HomeToTC2PickUp()
TC1DropOff ToHome()
TC1PickUpToHome()
TC2PickUpToHome()
TC1ToTC2()
Page 4(18)
Version 1.5
GMT800
Routines
TC2ToTC1()
TipDressToHome()
App1EndToRepair()
RepairToApp1End()
App2EndToRepair()
RepairToApp2End()
Home,
v100,
z10,
ReplaceME
Replace_Me HomeToPurge
MoveJ
Purge,
v100,
z10,
ReplaceME
Version 1.5
Page 5(18)
Routines
3.3
GMT800
Common Routines
The Common routines collectively define the process cycle: the path from Pounce
and back to Home.
Routines Provided
If the IRB is configured for carried application, where the process equipment is held
by IRB, the following Common routine is provided in a module named PAPP1PTH
(Programmers App1 PaTH) :
App1()
PickUp1()
PickUp2()
DropOff1()
DropOff2()
App1FFR()
App2FFR()
App1ToApp2() - The path from the last position in App1() to the first position in
App2().
In addition to common motion and process instructions, all common routines may
also include requests for style-specific paths, using the Doxxx instructions.
Page 6(18)
Version 1.5
GMT800
Routines
DoAppStyle 1
DoAppStyle 2
DoAppStyle 3
Figure 3.3 Default App1() or App2() Instructions. Three different
AppxStyle routines are called from the Appx() routine by
default. If additional style routines are to be called they have to
be programmed. Use Copy and Paste and change the style
number.
If different paths are used for each style, with no common paths, the Appx() routines
do not need to be modified. Each style may be programmed by adding desired
instructions in the appropriate Style routine. If any common path instructions are
needed, they are added to the Appx() routines.
Version 1.5
Page 7(18)
Routines
GMT800
If more than three style routines are used, the corresponding DoAppStyle instructions
need to be programmed (the same apply to Style Routines, see section 3.4 Style
routines)
MoveL p10, v250, Z30, toolgun1
Spot a2101, v300 \G1:=S1, toolgun1
MoveL p20, v250, Z30, toolgun1
Spot a2102, v300 \G1:=S1, toolgun1
MoveL p30, v250, Z30, toolgun1
Figure 3.4 If the process is the same for all styles, the application
programming can be done in the AppX routine. The DoStyle()
instructions are deleted and the actual path instructions are
added.
Page 8(18)
Version 1.5
GMT800
Routines
The concept is the same for pickup and dropoff operations, If the DoPickUpStyle X
instruction is added to the PickUp1() or PickUp2() routines, the PickUp1StyleX() and
PickUp2StyleX() routines will be called if X is the current style.
The calling hierarchy is:
App1()
|
+- DoAppStyle 1
|
|
|
+- App1Style1()
|
|
|
+- DoAppOption 1
|
|
|
|
|
+-App1Style1Opt1()
|
|
|
+- DoAppOption 2
|
|
|
|
|
+- App1Style1Opt2()
|
|
|
+- DoAppOption 3
|
|
|
+- App1Style1Opt3()
...
App2()
|
+- DoAppStyle 1
|
|
|
+- App2Style1()
|
|
|
+- DoAppOption 1
|
|
|
|
|
+- App2Style1Opt1()
|
|
|
+- DoAppOption 2
|
|
|
|
|
+- App2Style1Opt2()
|
|
|
+- DoAppOption 3
|
|
|
+- App2Style1Opt3()
...
Page 9(18)
Routines
GMT800
defined in the Appx() routine to the requested restart position. It then resumes the
process.
For pedestal Stud welding the turn table is automatically rotated and the robot
automatically picks up the process without operator intervention. If the backup
headset is also in need of repair, a Major Fault dialogue will be displayed instead.
A detailed description is contained below for each application.
Material handling
FFR actions N/A
FFR recovery descriptions N/A
Tool change
FFR actions N/A
FFR recovery descriptions N/A
Spot welding
Stud welding
FFR actions:
Standard FFR (default) Store the current process position, place weld
controller in NoWeld mode, reset the weld control fault, ensure the head
is retracted, start head retract monitoring, proceed through the process
path, drop off faulted head and stop head retract monitoring, wait until an
unfaulted head is available, pickup unfaulted head and start head retract
monitoring, return to repair position, post FFR recovery selections.
AutoFFR Check to ensure that an unfaulted head is available, if not,
generate a major fault with user selections. If an unfaulted head is
available, store the current process position, place weld controller in
NoWeld mode, reset the weld control fault, ensure the head is retracted,
start head retract monitoring, proceed through the process path, drop off
faulted head and stop head retract monitoring, pickup unfaulted head and
start head retract monitoring, and automatically select ResNext (see
description below).
FFR recovery descriptions: Special note: if AutoFFR is enabled, the Resnext
recovery option will automatically be selected unless a fault occurred at the last
process position, in which case the would be presented with FFR recovery
options.
ResLast - Execute process path in no-weld mode until the faulted process
position is reached, change to weld mode, and continue the process path
as normal.
ResNext Generate an out of tolerance for the faulted position, execute
the process path in no-weld mode until the next process position is
reached (immediately following the faulted process position), change to
Page 10(18)
Version 1.5
GMT800
Routines
weld mode, and continue the process path as normal. NOTE: this
recovery option will not be presented if a fault occurred at the last process
position.
Abandon The process is considered complete, work complete is sent,
current job is released, IRB waits for the next cycle initiate.
Hinge welding
FFR actions:
Store the current process position, update the weld complete memory for
the faulted process position, place weld controller in NoWeld mode, reset
the weld control fault, proceed through the process path, when the repair
position is reached, post FFR recovery selections.
FFR recovery descriptions:
ResLast - Execute process path in no-weld mode until the faulted process
position is reached, change to weld mode, begin weld process for all
torches which did not generate a weld complete, and continue the process
path as normal.
ResNext Execute process path in no-weld mode until the next process
position is reached (immediately following the faulted process position),
change to weld mode, and continue the process path as normal. NOTE:
this recovery option will not be presented if a fault occurred at the last
process position.
Redo Clear the weld complete memory and repeat the entire cycle
starting with first process position.
Abandon The process is considered complete, work complete is sent,
current job is released, IRB waits for the next cycle initiate.
ExchTool Tool is exchanged and the FFR recovery options are reposted.
Dispensing
PickUp()
The PickUp1() routine includes the path and instructions to pick-up parts. They can
also include other pre-process tasks not included in the application sequence.
If the IRB is not configured for material handling, no Pick-up routines are available.
When additional pick-up routines are required, the PickUp2() routine can be used,
and a PickUp3() routine can also be added. Note that the default cycle sequence
Version 1.5
Page 11(18)
Routines
GMT800
defined in ProcessPath needs to be changed in these cases. See section 3.6 How to
change the Process Cycle Sequence .
By default, the PickUp() routines include the instructions to execute the stylespecific pickup routines.
DoPickUpStyle 1
DoPickUpStyle 2
DoPickUpStyle 3
Figure 3.7 Default PickUp Routine Instructions. If additional style
routines are to be called use Copy and Paste to add one more
instruction and change the style number. Note that the
corresponding Style routine need to be created or down
loaded.
If different pick-up paths are used for each style, with no common paths used, the
PickUpx() routines do not need to be modified. Each style can be programmed by
adding instructions in the appropriate Style routine.
Any common path instructions should be added to the PickUp() routine.
Page 12(18)
Version 1.5
GMT800
Routines
DropOff()
The DropOffx() routines include the path and instructions to drop-off parts. They
can also include other post-process tasks not included in the application sequence.
The concept of the DropOff routines is the same as for the PickUp routines. See the
description for the PickUp routines for further description.
The following hierarchy of drop-off and pick-up routines is supported:
DropOff1()
|
+- DoDropOffStyle 1
|
|
|
+- DropOff1Style1()
|
+- DoDropOffStyle 2
|
|
|
+- DropOff1Style2()
|
+- DoDropOffStyle 3
|
|
|
+- DropOff1Style3()
...
PickUp3()
|
+- DoPickUpStyle 1
|
|
|
+- PickUp3Style1()
|
+- DoPickUpStyle 2
|
|
|
+- PickUp3Style2()
|
+- DoPickUpStyle 3
|
|
|
+- PickUp3Style3()
...
3.4
Style routines
Style routines define a unique path for a specific style or option.
For any of the Common routines, except App1ToApp2(), it is possible to have unique
style and option routines.
Routines Provided
The routines provided in the PA1S1PTH (Programmer App1 Style 1 PaTH) module
are all specific for Application 1 and Style 1:
App1Style1()
App1Style1Opt1()
For Application 1 and Style 2 the same type of routines are provided:
Version 1.5
Page 13(18)
Routines
GMT800
App1Style2()
App1Style2Opt1()
App2Style1Opt1()
Style routines for styles 1-3 are pre-loaded. Modules with styles 4-7 can be downloaded from the S4pc.
For pedestal and material handling applications the following additional modules are
provided:
PickUp1Style1()
PickUp2Style1()
DropOff1Style1()
DropOff2Style2()
App1FFRStyle1()
Page 14(18)
Version 1.5
GMT800
Routines
App2()
App2Style1()
App2Style1Opt1()
App2Style1Opt2()
...
App2Style2()
App2Style2Opt1()
App2Style2Opt2()
...
PickUp3()
PickUp3Style1()
PickUp3Style2()
PickUp3Style3()
...
Figure 3.9 Calling hierarchy for DropOff and PickUp based style routines. Up to 7
styles are supported.
Version 1.5
Page 15(18)
Routines
3.5
GMT800
App1()
PickUp1()
> move from the Pounce position to the pick up location for part one
> pick up part one
DropOff1()
PickUp1()
> move from the Pounce position to the pick-up location for part one
> pick-up part one
App1()
DropOff1()
> move to part one drop-off position, drop off part one
> return to the Home position.
PickUp1()
> move from the Pounce position to the pick-up location for part one
> pick-up part one
App1()
App1ToApp2()
App2()
DropOff1()
> move to part one drop-off position, drop off part one
> return to the Home position
Page 16(18)
Version 1.5
GMT800
3.6
Routines
PickUp1
DropOff1
App2
PickUp2
DropOff2
PickUp3
DropOff3
App1ToApp2
There can only be one instance of each step in the ProcessPath Cycle sequence.
In addition, the following elements can be used to define the Process Cycle
sequence:
NoOperation
EndOfCycle
- tells the Basic Software that this is the last step (mandatory)
By adding a step into one of the step positions, or moving elements around, the order
of the Process Cycle sequence can be changed. The size of the array (the number of
elements in it) cannot be changed. The Basic Software will call the appropriate
routines based on the steps it sees in ProcessPath.
For material handling and one pedestal application, the ProcessPath would look like:
VAR string ProcessPath{20} := ["PickUp1","App1","DropOff1","EndOfCycle",
"","","","","", "","","","", "","","","","","",""];
Version 1.5
Page 17(18)
Routines
GMT800
The ProcessPath for a typical pedestal application with two applications would look
like:
VAR string ProcessPath{20} := ["PickUp1","App1"," App1ToApp2","App2",
"DropOff1", "EndOfCycle","","","","","", "","", "","","","","","",""];
Page 18(18)
Version 1.5
GMT800
4.
Positions
Predefined Positions
After configuring the IRB, a set of pre-defined positions will be available. These
positions have to be re-defined by the programmer. This can be done by jogging the
robot to the correct position, marking the instruction, and pressing the MODPOS
functions key in the Program Window.
Note that these positions are global and can be used by many routines. When the
position is modified in one routine, it does not need to be modified in the other
routines.
4.1
General Positions
General positions are defined in the Module named PGENRDAT (Programmer
GENeral DATa). These positions are used by the General Routines, and have to be
redefined for all IRB.
Note : General positions have to be defined with Wobj0 active ( this is the default
setting). The digital output PLC signals that are connected to these positions
( AtHome etc.) will be updated at Motors On, so if the robot has been moved
during Motors Off, the outputs will be updated first at Motors On.
Positions provided
Three General positions are provided:
Home
Repair
Pounce
Version 1.3
Page 1(4)
Positions
GMT800
Page 2(4)
Version 1.3
GMT800
4.2
Positions
Process Positions
Process positions are defined in modules named PxxxxPTH, where xxx is the
process name ( i.e. SPOT) . These positions are used by the Process Routines.
Positions provided
Five Process positions are provided :
Align
ToolChng1
Purge
ToolChng2
TipDress
Version 1.3
Page 3(4)
Positions
GMT800
Page 4(4)
Version 1.3
GMT800
Instructions
5. Instructions
In this chapter the customized instruction set and related data is described.
Below the predefined most common instruction pick lists (IPL) are described. The
instructions are listed as they occur on the IPL of the TPU (Teach Pendant Unit).
A reference section is provided that describes all instructions in detail. In this
section the instructions are provided in alphabetic order.
MoveJ
OpenRetract
CloseRetract
AdvanceGun
ReturnGun
Version 1.3
Page 1(4)
Instructions
GMT800
Tool Changer
ExchangeTool
PickUpTool
DropOffTool
Gluing
GlueL/On
GlueL
GlueL/Off
Stud welding
Stud
Hinge Welding
HingeWeld
GasFlowOn
GasFlowOff
RepositionTool
EnterZone
ClearOfZone
EnteringMachine
ClearOfMache
WaitForMachClr
DoAppStyle
DoAppOption
DoDropOffStyle
DoPickUpStyle
DoFFRStyle
Page 2(4)
Version 1.3
GMT800
Instructions
MoveJ
PrepareToGrip
GripPart
ReleasePart
VerifyRelease
Version 1.3
Page 3(4)
Instructions
GMT800
Alphabetic listing
AdvanceGun
ClearOfMachine
ClearOfMachineJ
ClearOfMachineL
ClearOfZone
ClearOfZoneJ
ClearOfZoneL
CloseRetract
DoAppOption
DoAppStyle
DoDropOffStyle
DoFFRStyle
DoPickUpStyle
DressTip
DropOffTool
EnteringMachine
EnterZone
ExchangeTool
GasFlowOff
GasFlowOn
GlueL
GripPart
HingeWeld
MoveJ
MoveL
OpenRetract
PickUpTool
PrepareToGrip
ReleasePart
RepositionTool
ReturnGun
Spot
Stud
VerifyRelease
WaitForMachClr
Page 4(4)
Version 1.3
GMT800
AdvanceGun
AdvanceGun
AdvanceGun is used with a reposition mechanism to order a spot welding gun to its
advanced position.
Example
AdvanceGun 2
AdvanceGun order the gun number 2 to the advanced position.
Arguments
AdvanceGun GunNumber
GunNumber
Identification of the gun to advance (i.e. Gun 1-4).
Program execution
The AdvanceGun instruction has the following internal sequence:
Order the gun to the advanced position
Timing diagram
Notes:
Time
Range / units
Default time
T1
GunPivotTime
0-8388608 seconds
1.0 seconds
Version 1.2
Page 1(2)
AdvanceGun
GMT800
Limitations
Only to be used for pedestal spot welding guns with pivot mechanism.
Related information
Described in :
Reposition the gun to returned position
Instructions - ReturnGun
Page 2(2)
Version 1.2
GMT800
ClearOfMachine
ClearOfMachine
ClearOfMachine is used to report to the PLC that the IRB is clear of a machine.
See the ClearOfMachineL and ClearOfMachineJ instructions for a more accurate
setting of the output to the PLC.
Example
ClearOfMachine 5
ClearOfMachine 5 indicates to the PLC that the IRB is clear of Machine 5.
Arguments
ClearOfMachine MachineNo
Machine
The machine the IRB is clear of (i.e Machine 1-5).
Program execution
The ClearOfMachine instruction has the following internal sequence:
Clear of machine status is sent to the PLC.
Page 1(2)
Version 1.3
ClearOfMachine
GMT800
Limitations
All machines are indicated to be clear (signal MachineClearX is set) whenever:
the program is started from main() AND the IRB is at Home
at the end of a cycle (when the robot has reached Home at the end of a
cycle)
Machine X is indicated to be clear (signal MachineClearX is set) whenever:
the ClearOfMachine instruction is placed in any programmer routine
Machine 5 is indicated to be clear (signal MachineClear5 is set) whenever:
the ReleasePart instruction is used with the optional \NotifyPLC switch
Machine X is indicated to be not clear (signal MachineClearX is dropped)
whenever:
the EnteringMachine instruction is placed in any programmer routine
Machine 5 is indicated to be not clear (signal MachineClear5 is dropped) whenever:
the GripPart instruction is used with the optional \NotifyPLC switch
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - RepositionTool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - ClearOfZoneL
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - ClearOfMachineL
Instructions - WaitForMachClr
Page 2(2)
Version 1.3
GMT800
ClearOfMachineJ
ClearOfMachineJ
ClearOfMachineJ is used to report to the PLC that the IRB is clear of a machine.
The ClearOfMachine instruction does not include motion, and provides a less
accurate setting of the output to the PLC.
Example
ClearOfMachineJ 5, p32, v1000, z30, tool2
The TCP of the tool, tool2, is moved along a non-linear path to the position
p32, with speed data v1000 and zone data z30.
In the middle of the corner path at p32 the PLC will be informed that the IRB is
clear of Machine 5.
Arguments
ClearOfMachineJ MachineNo ToPoint Speed Zone Tool [ \WObj]
MachineNo
The machine the IRB is clear of (i.e Machine 1-5).
ToPoint
Data type : robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the
instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the
velocity of the tool center point, the tool reorientation and external axes.
Zone
Tool
Version 1.0
Page 1(4)
ClearOfMachineJ
GMT800
The tool in use when the robot moves. The tool center point is the point
moved to the specified destination point.
[ \WObj ]
(Work Object)
Data type : wobjdata
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the
world coordinate system. If, on the other hand, a stationary tool or
coordinated external axes are used, this argument must be specified in
order to perform a linear movement relative to the work object.
Program execution
The ClearOfMachineJ instruction has the following internal sequence:
Clear of machine status is sent to the PLC.
Page 2(4)
Version 1.0
GMT800
ClearOfMachineJ
Limitations
This instruction is not included in the pre-defined pick-list.
All machines are indicated to be clear (signal MachineClearX is set) whenever:
the program is started from main() AND the IRB is at Home
at the end of a cycle (when the robot has reached Home at the end of a
cycle)
Machine X is indicated to be clear (signal MachineClearX is set) whenever:
the ClearOfMachine instruction is placed in any programmer routine
Machine 5 is indicated to be clear (signal MachineClear5 is set) whenever:
the ReleasePart instruction is used with the optional \NotifyPLC switch
Machine X is indicated to be not clear (signal MachineClearX is dropped)
whenever:
the EnteringMachine instruction is placed in any programmer routine
Machine 5 is indicated to be not clear (signal MachineClear5 is dropped) whenever:
the GripPart instruction is used with the optional \NotifyPLC switch
Version 1.0
Page 3(4)
ClearOfMachineJ
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - RepositionTool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - ClearOfZoneJ
Instructions - ClearOfZoneL
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - ClearOfMachineJ
Instructions - ClearOfMachineL
Instructions - WaitForMachClr
Page 4(4)
Version 1.0
GMT800
ClearOfMachineL
ClearOfMachineL
ClearOfMachineL is used to report to the PLC that the IRB is clear of a machine.
The ClearOfMachine instruction does not include motion, and provides a less
accurate setting of the output to the PLC.
Example
ClearOfMachineL 5, p32, v1000, z30, tool2
The TCP of the tool, tool2, is moved linearly to the position p32, with speed
data v1000 and zone data z30.
In the middle of the corner path at p32 the PLC will be informed that the IRB is
clear of Machine 5.
Arguments
ClearOfMachineL MachineNo ToPoint Speed Zone Tool [ \WObj]
MachineNo
The machine the IRB is clear of (i.e Machine 1-5).
ToPoint
Data type : robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the
instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the
velocity of the tool center point, the tool reorientation and external axes.
Zone
Tool
Version 1.0
Page 1(4)
ClearOfMachineL
GMT800
The tool in use when the robot moves. The tool center point is the point
moved to the specified destination point.
[ \WObj ]
(Work Object)
Data type : wobjdata
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the
world coordinate system. If, on the other hand, a stationary tool or
coordinated external axes are used, this argument must be specified in
order to perform a linear movement relative to the work object.
Program execution
The ClearOfMachineL instruction has the following internal sequence:
Clear of machine status is sent to the PLC.
Page 2(4)
Version 1.0
GMT800
ClearOfMachineL
Limitations
This instruction is not included in the pre-defined pick-list.
All machines are indicated to be clear (signal MachineClearX is set) whenever:
the program is started from main() AND the IRB is at Home
at the end of a cycle (when the robot has reached Home at the end of a
cycle)
Machine X is indicated to be clear (signal MachineClearX is set) whenever:
the ClearOfMachine instruction is placed in any programmer routine
Machine 5 is indicated to be clear (signal MachineClear5 is set) whenever:
the ReleasePart instruction is used with the optional \NotifyPLC switch
Machine X is indicated to be not clear (signal MachineClearX is dropped)
whenever:
the EnteringMachine instruction is placed in any programmer routine
Machine 5 is indicated to be not clear (signal MachineClear5 is dropped) whenever:
the GripPart instruction is used with the optional \NotifyPLC switch
Version 1.0
Page 3(4)
ClearOfMachineL
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - RepositionTool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - ClearOfZoneJ
Instructions - ClearOfZoneL
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - ClearOfMachineJ
Instructions - ClearOfMachineL
Instructions - WaitForMachClr
Page 4(4)
Version 1.0
GMT800
ClearOfZone
ClearOfZone
ClearOfZone is used whenever the IRB leaves a workspace that is used by another
IRB. The instruction allows the PLC to coordinate entry of the other IRB into the
zone.
See the ClearOfZoneL and ClearOfZoneJ instructions for a more accurate
coordination of setting the PLC signal.
Example
ClearOfZone Left
ClearOfZone Left indicates to the PLC that the IRB has exited the left
interference zone.
Arguments
ClearOfZone Zone
Zone
Program execution
The ClearOfZone instruction has the following internal sequence:
Indicate to the PLC that the IRB has exited the specified interference zone.
Display operator status message.
Version 1.1
Page 1(2)
ClearOfZone
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - Repositiontool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - WaitForMachiClr
Page 2(2)
Version 1.0
GMT800
ClearOfZoneJ
ClearOfZoneJ
ClearOfZoneJ is used whenever the IRB leaves a workspace that is used by another
IRB. The instruction allows the PLC to coordinate entry of the other IRB into the
zone.
The ClearOfZone instruction does not include motion, and provide a less accurate
setting of the PLC signal.
Example
ClearOfZoneJ Left p30, v1000, z30, tool2
The TCP of the tool, tool2, is moved along a non-linear path to the position
p30, with speed data v1000 and zone data z30.
In the middle of the corner path at p30 the PLC will be informed that the IRB
has exited the left interference zone.
Arguments
ClearOfZoneJ Zone ToPoint Speed Zone Tool [ \WObj]
Zone
ToPoint
Data type : robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the
instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the
velocity of the tool center point, the tool reorientation and external axes.
Zone
Version 1.0
Page 1(4)
ClearOfZoneJ
Tool
GMT800
[ \WObj ]
(Work Object)
Data type : wobjdata
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the
world coordinate system. If, on the other hand, a stationary tool or
coordinated external axes are used, this argument must be specified in
order to perform a linear movement relative to the work object.
Program execution
The ClearOfZoneJ instruction has the following internal sequence:
Indicate to the PLC that the IRB has exited the specified interference zone.
Display operator status message.
Page 2(4)
Version 1.0
GMT800
ClearOfZoneJ
Limitations
This instruction is not included in the pre-defined pick-list.
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - Repositiontool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - ClearOfZoneL
Instructions - ClearOfZoneJ
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - ClearOfMachineL
Instructions - ClearOfMachineJ
Instructions - WaitForMachiClr
Version 1.0
Page 3(4)
ClearOfZoneJ
GMT800
Page 4(4)
Version 1.0
GMT800
ClearOfZoneL
ClearOfZoneL
ClearOfZoneL is used whenever the IRB leaves a workspace that is used by another
IRB. The instruction allows the PLC to coordinate entry of the other IRB into the
zone.
The ClearOfZone instruction does not include motion, and provide a less accurate
setting of the PLC signal.
Example
ClearOfZoneL Left p30, v1000, z30, tool2
The TCP of the tool, tool2, is moved along a linear path to the position p30,
with speed data v1000 and zone data z30.
In the middle of the corner path at p30 the PLC will be informed that the IRB
has exited the left interference zone.
Arguments
ClearOfZoneL Zone ToPoint Speed Zone Tool [ \WObj]
Zone
MachineNo
The machine the IRB is clear of (i.e Machine 1-5).
ToPoint
Data type : robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the
instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the
velocity of the tool center point, the tool reorientation and external axes.
Zone
Version 1.0
Page 1(4)
ClearOfZoneL
Tool
GMT800
[ \WObj ]
(Work Object)
Data type : wobjdata
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the
world coordinate system. If, on the other hand, a stationary tool or
coordinated external axes are used, this argument must be specified in
order to perform a linear movement relative to the work object.
Program execution
The ClearOfZoneL instruction has the following internal sequence:
Indicate to the PLC that the IRB has exited the specified interference zone.
Display operator status message.
Version 1.0
GMT800
ClearOfZoneL
Limitations
This instruction is not included in the pre-defined pick-list.
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - Repositiontool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - ClearOfZoneL
Instructions - ClearOfZoneJ
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - ClearOfMachineL
Instructions - ClearOfMachineJ
Instructions - WaitForMachiClr
Version 1.0
Page 3(4)
ClearOfZoneL
GMT800
Page 4(4)
Version 1.0
GMT800
CloseRetract
CloseRetract
Example
CloseRetract 4
CloseRetract orders gun number 4 to close its retract stroke.
CloseRetract Gun 3
CloseRetract orders the retract of gun number 3 to close.
Arguments
CloseRetract GunNumber
GunNumber
Data type : num
Identification of the gun retract to close ( retract 1-4 ).
Program execution
The CloseRetract instruction has the following internal sequence:
Order the retract stroke to close
Timing diagram
Notes:
Time
Range / units
Default time
T1
RetractClsTime
0-8388608 seconds
0.8 seconds
Version 1.0
Page 1(2)
CloseRetract
GMT800
Open retract is
reset
Close retract is
set
T1
Retract open
feedback
Next instruction
begins
Limitations
Available only if the IRB is configured for spot welding.
Related information
Described in :
Open the gun retract stroke
Instructions - OpenRetract
Instructions - Spot
Page 2(2)
Company Confidential
Version 0.2
File : 15 Closeret.doc
4/11/2001 9:47:00 AM
GMT800
DoAppOption
DoAppOption
Example
DoAppOption 1
DoAppOption 1 calls a style based option routine (i.e. AppxStylexOption1() ),
if option 1 is the valid option.
If the DoAppOption 1 instruction is called from the App2Style2() routine, the
App2Style2Opt1() routine will be executed if option 1 is the valid option, i.e.
the calling hierarchy is:
App1Style2()
|
+- DoAppOption 1
|
|
|
+-App1Style2Opt1()
|
+- DoAppOption 2
|
|
|
+- App1Style2Opt2()
|
+- DoAppOption 3
|
+- App1Style2Opt3()
App2Style1()
|
+- DoAppOption 1
|
|
|
+- App2Style1Opt1()
|
+- DoAppOption 2
|
|
|
+- App2Style1Opt2()
|
+- DoAppOption 3
|
+- App2Style1Opt3()
Arguments
DoAppOption Option
Option
Option number for the Option routine to call.
Program execution
The DoAppOption instruction has the following internal sequence:
Version 1.1
Page 1(2)
DoAppOption
GMT800
check with the PLC if the requested option, as given in the instruction
argument, is the valid option for this job
if valid, execute the Appx1Stylex2Optionx3() routine, where x1 and x2
comes from the Appx1Stylex2() routine where the instruction is called, and
x3 is the option number given in the argument.
Limitations
The DoAppOption instruction can only be used in the AppStyle() routines.
If more than one option routine ( i.e.AppxStylexOption1() ) is to be used the
routine has to be defined by the programmer. The Basic Software supports up
to three Option routines per style.
Related information
Described in :
How to use the Doxxx instructions
Page 2(2)
Version 1.0
GMT800
DoAppStyle
DoAppStyle
Example
DoAppStyle 3
DoAppStyle 3 calls a Style routine (i.e. AppxStyle3() ), if style 3 is the valid
style.
If the DoAppStyle 3 instruction is called from the App2() routine, the
App2Style3() routine will be executed if Style 3 is the valid style. An example
of the calling hierarcy is illustrated below:
App1()
|
+- DoAppStyle 1
|
|
|
+- App1Style1()
|
+- DoAppStyle 2
|
|
|
+- App1Style2()
|
+- DoAppStyle 3
|
|
|
+- App1Style3()
...
App2()
|
+- DoAppStyle 1
|
|
|
+- App2Style1()
|
|
|
+- DoAppOption 1
|
|
|
+-App2Style1Opt1()
|
+- DoAppStyle 2
|
|
|
+- App2Style2()
|
|
|
+- DoAppOption 1
|
|
|
+- App2Style2Opt1()
...
Arguments
DoAppStyle Style
Style
Version 1.2
Page 1(2)
DoAppStyle
GMT800
Program execution
The DoAppStyle instruction has the following internal sequence:
check with the PLC if the requested style, as given in the instruction
argument, is the valid style for this job.
if valid, execute the Appx1Stylex2() routine, where x1 comes from the
Appx1() routine where the instruction is called, and x2 is the style number
given in the argument.
Limitations
The DoAppStyle instruction can only be used in the App1() or App2() routines.
Three style routines per App ( i.e.AppxStylex() ) are provided by default. The
Basic software supports up to 7 style routines.
Related information
Described in :
How to use the Doxxx instructions
Page 2(2)
Version 1.2
GMT800
DoDropOffStyle
DoDropOffStyle
Example
DoDropOffStyle 2
DoDropOffStyle calls a style based drop-off routine if style 2 is the valid style.
If the DoDropOffStyle 2 instruction is executed in the Dropoff1() routine the
DropOff1Style2() routine will be called, if style 2 is the valid style as specified
by the PLC. I.e. the calling hierarchy for DropOff1() is:
DropOff1()
|
+- DoDropOffStyle 1
|
|
|
+- DropOff1Style1()
|
+- DoDropOffStyle 2
|
|
|
+- DropOff1Style2()
|
+- DoDropOffStyle 3
|
|
|
+- DropOff1Style3()
...
Arguments
DoDropOffStyle Style
Style
Version 1.2
Page 1(2)
DoDropOffStyle
GMT800
Program execution
The DoDropOffStyle instruction has the following internal sequence:
verify if the requested style, as given in the argument, is the valid style for
this job.
if valid, execute the DropOffx1Stylex2() routine ,where x1 comes from the
DropOff x1() routine where the instruction is called, and x2 is the style
number given in the argument.
Limitations
The DoDropOffStyle instruction can only be used in the DropOff() routines.
If a DropOff3Style() routine is to be used, it has to be defined by the
programmer. The Basic Software supports up to three drop-off routines.
Related information
Described in :
How to use the Doxxx instructions
Page 2(2)
Version 1.2
GMT800
DoFFRStyle
DoFFRStyle
Example
DoFFRStyle 3
DoFFRStyle3 calls a style based FFR routine if style 3 is the valid style.
If the DoFFRStyle 3 instruction is executed in the App1FFR() routine the
App1FFRStyle3() routine will be called, if style 3 is the valid style as specified
by the PLC. The calling hierarchy for App1FRR() is:
App1FFR()
|
+- DoFFRStyle 1
|
|
|
+- App1FFRStyle1()
|
+- DoFFRStyle 2
|
|
|
+- App1FFRStyle2()
|
+- DoFFFRStyle 3
|
|
|
+- App1FFRStyle3()
...
Arguments
DoFFRStyle Style
Style
Version 1.2
Page 1(2)
DoFFRStyle
GMT800
Program execution
The DoFFRStyle instruction has the following internal sequence:
verify if the requested style, as given in the argument, is the valid style for
this job.
if valid, execute the Appx1FFRStylex2() routine ,where x1 is the Appx1()
routine from where the instruction is called, and x2 is the style number
given in the argument.
Limitations
The DoFFRStyle instruction can only be used in the AppxFFR() routines.
Up to seven style number are supported by the Basic software. FFRStyle routines are
provided by default for style 1-3. If routines are required for style 4-7 they have to be
defined by the programmer.
Related information
Described in :
How to use the Doxxx instructions
Page 2(2)
Version 1.2
GMT800
DoPickUpStyle
DoPickUpStyle
Example
DoPickUpStyle 1
DoPickUpStyle calls a style based pick-up routine if style 1 is the valid style.
If the DoPickUpStyle 1 instruction is executed in the PickUp2() routine the
PickUp2Style1() routine will be called, if style 1 is the valid style as specified
by the PLC.
The calling hierarchy for PickUp2() is:
PickUp2()
|
+- DoPickUpStyle 1
|
|
|
+- PickUp2Style1()
|
+- DoPickUpStyle 2
|
|
|
+- PickUp2Style2()
|
+- DoPickUpStyle 3
|
|
|
+- PickUp2Style3()
...
Arguments
DoPickUpStyle Style
Style
Version 1.2
Page 1(2)
DoPickUpStyle
GMT800
Program execution
The DoPickUpStyle instruction has the following internal sequence:
verify if the requested style, as given in the argument, is the valid style for
this job.
if valid, execute the PickUpx1Stylex2() routine ,where x1 comes from the
PickUpx1() routine where the instruction is called, and x2 is the style
number given in the argument.
Limitations
The DoPickUpStyle instruction can only be used in the PickUp() routines.
If a PickUp3Stylex() routines is to be used, it has to be defined by the
programmer.
Related information
Described in :
How to use the Doxxx instructions
Page 2(2)
Version 1.2
GMT800
DressTip
DressTip
DressTip is used in spot welding to programmatically dress a carried spot weld gun.
The dressing occurs at the current position of the IRB, on the specified weld gun.
Tip dressing is typically executed automatically, by the basic software. In some
special cases, however, such as for multiple carried guns, only the first gun will be
dressed automatically. This instruction provides a means to dress the other carried
gun(s). This instruction should only be used in one of these special cases, according
to the example below.
Example
DressTip 2;
DressTip is the only instruction needed to perform a manual tip dress: a
dress performed at a time selected by the programmer. In this example, gun 2
will be dressed if the associated SCR or the S4pc is requesting a tip dress. This
instruction could be used in the HomeToTipDress() routine, after positioning
the second gun at the tip dresser.
HomeToTipDress() should be constructed as follows for two carried guns:
! move the second gun into position at the tip dresser
MoveL TipDress2, v200, fine, tool2;
DressTip 2;
! now move the first gun into position at the tip dresser
MoveL *, v200, z20, tool2;
MoveL TipDress, v200, fine, tool2;
! dressing of gun 1 will take place automatically here
Arguments
DressTip GunNumber
GunNumber
Data type : num
The number of the carried gun to be dressed, i.e. gun 1 - 4.
Program execution
The DressTip instruction has the following internal sequences:
Version 1.2
Page 1(4)
DressTip
GMT800
Limitations
Available only if the IRB is configured for carried spot welding. Instruction
will not be available from the instruction pick list; use ProcCall to insert the
instruction.
Page 2(4)
Version 1.2
GMT800
DressTip
Related information
Described in :
Spot
Instructions - Spot
Open Retract
Instructions - OpenRetract
Close Retract
Instructions - CloseRetract
Advance Gun
Instructions - AdvanceGun
Return Gun
Instructions - ReturnGun
Version 1.2
Page 3(4)
DressTip
GMT800
Page 4(4)
Version 1.2
GMT800
DropOffTool
DropOffTool
ToolDropOff requests the current carried tool to be dropped off at its tool changer
station. The robot must be in the Home position when using this instruction. The
path has to be defined. See section Process Routines in Chapter 3: Path Routines.
Example
DropOffTool 2
A request to drop off the tool in station 2 is performed.
Arguments
DropOff Tool
StationNumber
StationNumber
The station number (1 or 2).
Program execution
The DropOffTool instruction has the following internal sequences:
Verify that the tool the IRB is holding corresponds to the StationNumber
provided in the instruction argument.
Verify that there is no tool present in the drop off station
Send open cover signal
Call routine HomeToTCxDropOff, where x is the StationNumber, to move
into the station
Send open latch signal
Call routine TCxDropOfftoHome routine, where x is the StationNumber, to
return to the Home position
Send close cover signal
Version 1.0
Page 1(4)
DropOffTool
GMT800
Timing diagram
Notes:
Time
T1
T2
T3
Path
segment
PS1
PS2
Tophat tuning
name
CoverOpenTime
CoverCloseTime
LatchOpenTime
Range / units
Default time
0-8388608 seconds
0-8388608 seconds
0-8388608 seconds
2.0 seconds
2.0 seconds
2.0 seconds
Path description
Home to Dropoff
Dropoff to Home
Close Cover
T2
Open Cover
T1
Covers opened
feedback
Robot Motion
PS1
PS2
Close Latch
Page 2(4)
Version 1.0
GMT800
DropOffTool
Open Latch
T3
Latch opened
feedback
Tool present
feedback
Limitations
Available only when the IRB is configured for using a tool changer.
Related information
Described in :
Pick up a tool from tool changer
Instructions - PickUpTool
Exchange tool
Instructions - ExchangeTool
Version 1.0
Page 3(4)
DropOffTool
GMT800
Page 4(4)
Version 1.0
GMT800
EnteringMachine
EnteringMachine
EnteringMachine is used to report to the PLC that the IRB is not clear with respect to
a machine.
Example
EnteringMachine 5
EnteringMachine 5 indicates to the PLC that the IRB is not clear of Machine
5.
Arguments
EnteringMachine MachineNo
MachineNo
Data type : num
The machine the IRB is entering in to (i.e Machine 1-5).
Program execution
The EnteringMachine instruction has the following internal sequence:
Not clear of machine x status is sent to the PLC
Version 1.0
Page 1(2)
EnteringMachine
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - WaitForMachClr
Page 2(2)
Version 1.0
GMT800
EnterZone
EnterZone
The EnterZone instructions are used whenever the IRB needs to enter a workspace
that is used by another IRB.
Example
EnterZone Left
EnterZone Left indicates to the PLC that the IRB has approached the left
interference zone, and allows the PLC to coordinate the IRB entry into the
zone.
Arguments
EnterZone Zone
Zone
Program execution
The EnterZone instruction has the following internal sequence:
Indicate to the PLC that the IRB has approached the specified interference
zone.
Display an operator status message
Wait for PLC acknowledgment to proceed into the interference zone
Display an operator status message.
Version 1.1
Page 1(2)
EnterZone
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - WaitForMachClr
Page 2(2)
Version 1.0
GMT800
ExchangeTool
ExchangeTool
ExchangeTool requests exchange of carried tooling. The IRB must be in the Home
position when using this instruction.
The path to and from the tool changer has to be defined in pre-defined routines. See
section Process Routines in Chapter 3 : Path Routines.
Example
ExchangeTool 2, 1
A request to drop off the tool in station 2 and to pick up the tool in station 1 is
made.
Arguments
ExchangeTool DropOffStation PickUpStation
DropOffStation
The station number to drop off the tool (1 or 2).
PickUpStation
The station number to pick off the tool (1 or 2).
Program execution
The ExchangeTool instruction has the following internal sequences:
Verify that the DropOffStation and the PickUpStation are not the same
Verify that the tool the IRB is holding corresponds to the DropOffStation
Verify that there is no tool present in the DropOffStation
Send open covers signal
Verify that covers are open
Call routine HomeToTCxDropOff(), where x is the DropOffStation
Send open latch signal
Version 1.0
Page 1(4)
ExchangeTool
GMT800
Timing diagram
Notes:
Time
T1
T2
T3
T4
Path
segment
PS1
PS2
PS3
Tophat tuning
name
CoverOpenTime
CoverCloseTime
LatchOpenTime
LatchCloseTime
Range / units
Default time
0-8388608 seconds
0-8388608 seconds
0-8388608 seconds
0-8388608 seconds
2.0 seconds
2.0 seconds
2.0 seconds
2.0 seconds
Path description
Home to Dropoff
Dropoff to Pickup
Pickup to Home
Page 2(4)
Version 1.0
GMT800
ExchangeTool
Close Cover
T2
Open Cover
T1
Covers opened
feedback
Robot Motion
PS1
PS2
PS3
Close Latch
T4
Open Latch
T3
Latch opened
feedback
Tool present
feedback
Version 1.0
Page 3(4)
ExchangeTool
GMT800
Related information
Described in :
Pick up a tool from tool changer
Instructions - PickupTool
Exchange tool
Instructions - ExchangeTool
Page 4(4)
Version 1.0
GMT800
GasFlowOff
GasFlowOff
Example
GasFlowOff \T1\T3
Request the shielding gas to be turned off for torch 1 and 3.
Arguments
GasFlowOff [\T1] [\T2] [\T3] [\T4]
\T1...\T4
Data type : switch
The torch(es) requiring shielding gas to be turned off.
Program execution
The GasFlowOff instruction has the following internal sequence:
Request the gas to be turned off for the requested torch(es)
Version 1.1
Page 1(2)
GasFlowOff
GMT800
Limitations
Available only if the IRB is configured for hinge welding
Related information
Described in :
Turn shielding gas on
Instructions - GasFlowOn
Instructions - HingeWeld
Page 2(2)
Version 1.0
GMT800
GasFlowOn
GasFlowOn
Example
GasFlowOn \T1\T3
Request the shielding gas to be turned on for torch 1 and 3.
Arguments
GasFlowOn [\T1] [\T2] [\T3] [\T4]
\T1...\T4
Data type : switch
The torch(es) which require shielding gas to be turned on.
Program execution
The GasFlowOn instruction has the following internal sequence:
Request the gas to be turned on for requested torch(es).
Version 1.1
Page 1(2)
GasFlowOn
GMT800
Limitations
Available only if the IRB is configured for hinge welding
Related information
Described in :
Turn shielding gas off
Instructions - GasFlowOff
Instructions - HingeWeld
Page 2(2)
GMT800
GlueL
GlueL
Example
GlueL\On, p1, v250, ggun1 \F1:=scaleA, z30, tooldisp1
GlueL p2, v250, ggun1 \F1:=scaleB, z30, tooldisp1
GlueL\Off, p3, v250, ggun1, z30, tooldisp1
The TCP for tooldisp1 is moved on a linear path to position p1 with the speed
given by v250. The \On argument trigger the gun and the flow to start during
the motion in to position p1. The actual timing is determined by the glue gun
data provided ( i.e. glgun1 in this example). The glue flow for gun 1 ( i.e. F1) is
ordered using a TCP proportional analog output signal from the IRB. This
signal is scaled using scaleA.
The TCP then is moved from p1 towards p2 with the flow values given by the
preceding glue instruction. Before p2 is reached, the flow values are changed
to scaleB. The time when that is performed is specified in the glgun1 data.
The TCP then is moved from p2 towards p3 with the flow values given by the
preceding glue instruction. Due to the \Off argument the outputs will be reset
according to the times given in ggun1 before p3 is reached :
GlueL
GlueL\On
p1*
p3*
p1
p3
GlueL\Off
S1
Direction of movement
p2
S2
S1: F1= scaleA, i.e. the glue flow values given by the first instruction are active.
S2: F1 = scaleB, i.e. the glue flow values given by the second instruction are active.
Page 1(6)
GlueL
GMT800
Arguments
GlueL [\On]|[\Off] [\Conc] ToPoint Speed GlueGun [\F1] [\F2]
[\D] Zone Tool [\WObj]
[\On]
Data type : switch
The argument \On is used in the first Glue instruction to start the glue
process.
The gun opening and the analog flow signal are performed as pre-action
during the motion to the programmed position. The timing of the preaction is determined by the ggundata.
As the instruction cannot contain the arguments \On and \Off together, the
gluing path must have at least 2 instructions, one containing the \On and
one containing the \Off argument. Executing two consecutive instructions
with \On argument will result in an error message.
[\Off]
Data type : switch
The argument \Off is used in the last gluing instruction to terminate the
gluing. On the way to the end position the gun opening as well as the flow
outputs will be reset according to the given time within the specified
ggundata.
[\Conc]
(Concurrent)
Data type : switch
The robot is looking ahead and subsequent instructions are executed while
the robot is moving. This argument is used in the same situations as
corresponding argument in other Move instructions, but for gluing it is
also useful to permit higher speeds when consecutive glue instructions are
close to each other.
Using the argument \Conc, the number of movement instructions in
succession is limited to 5. In a program section that includes StorePathRestoPath, movement instructions with the argument \Conc are not
permitted.
If this argument is omitted, the subsequent logical instructions are
executed some time before reaching the programmed zone. ( See RAPID
Reference manual chapter 3.2 : Sequential program execution at fly by
points )
Page 2(6)
Version 1.3
GMT800
GlueL
ToPoint
Data type : robtarget
The destination point of the robot and the external axes. It is defined as a
named position or stored directly in the instruction (if marked with an * in
the instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the
velocity for the tool center point, the tool reorientation and external axes.
GlueGun
Data type : ggundata
Gun specific data, e.g. the reaction time for setting a flow etc., for the gun
in use (see next section : GlueL - ggundata).
[\F1]
[\F2]
(Scaling of the flow 2 signal)
Data type : switch
The optional argument \F2 gives a value in percent to adjust the flow2 for
the next section of the path. If no value is programmed the same value as
in previous glue instruction is used. If no value is programmed in a glue
instruction with \On argument the value 0 is used.
[\D]
Zone
Tool
Version 1.3
Page 3(6)
GlueL
GMT800
[\WObj]
( Work Object )
Date type : switch
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the
world coordinate system. If, on the other hand, a stationary TCP or
coordinated external axes are used, this argument must be specified in
order to perform a linear movement relative to the work object.
Program execution
Internal sequence in a GlueL instruction:
The gun starts to move towards the position.
If the argument \On is used the gun opening output DO_Ggun1 or
DO_Ggun2 is set at the specified time before the position is reached. If the
argument \D is used the output is set at the specified distance plus the
specified times before the position is reached.
The values for flow1 or flow2 are set at the specified time before the
position is reached. If the argument \D is used the outputs are set at the
specified distance plus the specified times before the position is reached.
When the programmed position is reached, the program execution
continues with the next instruction.
Page 4(6)
Version 1.3
GMT800
GlueL
Tuning
It is very important that the ggundata is set up properly before any tuning is done, see
next section : GlueL - ggundata.
The bead size can easily be tuned using different values for the F1 argument for gun
1 and the F2 argument for Gun 2.
To allow easy tuning during production the following predefined scales are provided.
The default values is 100%, and should be changed to a higher or lower number as
required :
Name
scaleA
scaleB
scaleC
scaleD
scaleE
scaleF
Data type
Num
Num
Num
Num
Num
Num
Default value
100
100
100
100
100
100
Limitations
It is not possible to restart the current glue sequence after a stop. The gluing is
restarted with the next glue instruction with an \On argument.
Error handling
Error situations
The following error situations are handled:
Version 1.3
Page 5(6)
GlueL
GMT800
Instruction argument error.
Wrong ggundata values.
Start without \On argument.
Start with two instructions with \On argument.
End with \Off argument without having started with \On argument.
Stop during execution of glue instructions.
The faulty instruction or data must be changed and the current set of glue
instructions must be restarted from the beginning.
Related information
Described in :
Other positioning instructions
Summary - Motion
Definition of velocity
Definition of tool
Page 6(6)
Version 1.3
GMT800
ggundata
GlueL-ggundata
ggundata is used to define glue gun specific data, which is to be used to control the
gun during the gluing process.
The ggundata data should be defined before the programming start, and specially
before any tuning is done using the optional arguments \D and \F in the GlueL
instruction.
Normally there is no need to modify the ggundata after the gun have been calibrated
properly.
Please note that the TCP and weight of the gluing gun are defined in tooldata and not
in ggundata.
Description
ggundata is used in the glue instruction and has the following structure :
- Which gun to be used ( 1 or 2 )
- Time for preopening and preclosing the gun
- Type of flow ( fixed of TCP proportional)
- Times for anticipate of flow on
- Times for anticipate of flow changes
- Times for anticipate of flow off
- Times for lag compensation in glue gun during speed dips
- Reference speed
Note : To facilitate future needs Flow1 is only used for dispense control for gun1 and
Flow2 is only used for dispense control for gun2.
Components
References made to p1, p2 etc. below refer to the example provided in the
description of the GlueL instruction.
ggun-no
( gun to use )
Number to define if this ggun data is for gun 1 or gun 2.
gl_on_time
(anticipate of digital gun open signal)
Time in seconds needed for the gun to open.
Version 1.0
Page 1(4)
GlueL-ggundata
GMT800
If gl_on_time is set to 0 the IRB will order the glue gun to open at p1. A
value given to glue_on_time will anticipate the gun open signal, i.e. the
IRB will order the glue gun to open at p1*, i.e. p1- gl_on_time.
gl_off_time
(anticipate of digital gun close signal)
Time in seconds needed for the gun to close.
If gl_off_time is set to 0 the IRB will order the glue gun to close at p3. A
value given to glue_off_time will anticipate the gun close signal, i.e. the
IRB will order the glue gun to close at p3*, i.e p3 - the gl_off_time.
-------------------------------------------Flow 1 ------------------------------------------------------fl1_type
(type of flow1)
Data type : num
Type of flow 1 signal, set to none, fixed or speed proportional, where none
=0, fixed =1 and TCP speed proportional = 2.
fl1_on_time (anticipate establishing of the analog flow1 signal)
Data type :
num
Time in seconds to establish flow in the gun at the start of the gluing.
If fl_on_time is set to 0 the IRB will issue the analog flow signal to the
gluing equipment at p1. A value given to fl_on_time will anticipate the
time when the analog flow signals is given. The flow signal will be given
at p1*, i.e. p1- fl1_on_time.
fl1_time
(anticipate scaling of the analog flow1 signal )
Data type : num
Time in seconds needed to change flow in the gun during on-going
gluing.
If fl_time is set to 0 the analog flow signal will change at the programmed
position when a new \F argument is provided in a glue instruction that are
not using \On of \Off arguments. A value given to fl_time will anticipate
the time when the new scaling of the analog flow signals is used.
fl1_off_time
(anticipate reset of the analog flow1 signal)
Data type : num
fl_off_time is used to compensate for time required to reset the flow in
the gun at the end of the gluing.
If fl_off_time is set to 0 the the analog flow signal will be reset in the
programed ToPoint. A value given to fl_off_time will anticipate the time
when the analog flow signals is reset.
Page 2(4)
Version 1.0
GMT800
GlueL-ggundata
fl1_delay
( anticipate of the analog flow1 signal)
Data type : num
Time in seconds to compensate for lag in the response of glue equipment
to continuos changes the analog flow signal provided by the IRB.
If fl_delay is set to 0 there is not time shifting of the analog flow signals.
A value given will shift the signal with the given time, i.e. the signal will
be provided ahead of time. The predicted TCP at t+fl1_delay will be used
to calculate the flow signal, where t is the current time.
fl1_refspeed
( glue reference speed)
Data type : num
Glue reference speed in mm/s. Normally the max. Used glue speed for
this gun. This value used to calculate the flow value for speed
proportional signals. This value must be > 0 also when flow type is =
fixed.
-------------------------------------------Flow 2 ------------------------------------------------------fl2_type
(type of flow2)
Data type : num
Type of flow 1 signal, set to none, fixed or speed proportional, where none
=0, fixed =1 and TCP speed proportional = 2.
fl2_on_time (anticipate establishing of the analog flow2 signal)
Data type :
num
Time in seconds to establish flow in the gun at the start of the gluing.
fl2_time
(anticipate scaling of the analog flow2 signal )
Data type : num
Time in seconds needed to change flow in the gun during on-going
gluing.
fl2_off_time
(anticipate reset of the analog flow2 signal)
Data type : num
fl_off_time is used to compensate for time required to reset the flow in
the gun at the end of the gluing.
fl2_delay
( anticipate of the analog flow2 signal)
Data type : num
Time in seconds to compensate for lag in the response of glue equipment
to continuos changes the analog flow signal provided by the IRB.
fl2_refspeed
( glue reference speed)
Data type : num
Glue reference speed in mm/s. Normally the max. Used glue speed for
this gun. This value used to calculate the flow value for speed
Version 1.0
Page 3(4)
GlueL-ggundata
GMT800
proportional signals. This value must be > 0 also when flow type is =
fixed.
Limitations
Maximum number of guns : 2
Maximum real lag compensation ( fl1_delay and fl2_delay) : 48-80 ms depending
on IRB type.
The values for the different times within the data sets must be between 0 to 1
seconds.
The value for the reference speed has to be > 0.
Page 4(4)
Version 1.0
GMT800
GripPart
GripPart
GripPart engages a part with clamps and/or vacuum gripper(s) held by the IRB. The
IRB should be in the pick-up position when this instruction is used. Part present
monitoring is activated as the last action of the instruction.
Example
GripPart \V1
Closes clamps and / or applies vacuum to vacuum cups connected to valve 1.
GripPart \V1\V3\V5
Closes clamps and / or applies vacuum to vacuum cups connected to valves 1,
3 and 5.
Arguments
GripPart [\V1] [\V2] [\V3] [\V4] [\V5] [NotifyPLC]
\NotifyPLC
Data type : switch
The PLC is informed when the instruction is executed.
Program execution
The GripPart instruction has the following internal sequence (only applicable steps
are performed ) :
Deactivate the clamp open output(s)
Activate the clamp closed output(s)
Apply vacuum output(s)
Wait for vacuum to build up (tunable time - GripMotionDly)
Verify clamps are closed
Verify clamps are not open
Turn on part present monitoring
If \NotifyPLC is used, the MachineClear5 RIO signal will be set low
Version 1.5
Page 1(4)
GripPart
GMT800
Timing diagram
Notes:
The T1 time applies if one or more of the following conditions applies:
1. A valve supplied with the GripPart instruction is configured as vacuum.
2. A valve supplied with the GripPart instruction is configured as clamp and
feedback is not configured.
If multiple valves are supplied with the GripPart instruction, the highest instance of
motion delay is used.
Robot motion is not illustrated in the timing diagram as motion does not occur during
execution of the GripPart instruction.
Time
Range / units
Default time
T1
0.1 10 seconds
1.0 seconds
T1
Page 2(4)
Version 1.5
GMT800
GripPart
Limitations
Available only if the IRB is configured for material handling.
Related information
Described in :
Prepare to grip part with IRB
Instructions - PrepareToGrip
Instructions - ReleasePart
Instructions - VerifyRelease
Version 1.5
Page 3(4)
GripPart
GMT800
Page 4(4)
Version 1.5
GMT800
HingeWeld
HingeWeld
HingeWeld is used when plunge welding hinges. The instruction initiates the weld
process. A normal Move instruction using fine point, is used to move the IRB into
the weld position.
The shielding gas has to be turned on prior to the initiation of the weld process by
using the GasOn instruction, and the gas has to be turned off when not needed by
using the GasOff instruction. It is also the programmers responsibility to ensure that
enough shielding gas is provided to protect the weld process.
Example
HingeWeld 2\T1:=Td3\T4:=Td2
Hinge number 2 is welded using torch number 1 with tacking data 3, and torch
number 4 with tacking data 2 on the active set of torches.
Arguments
HingeWeld Hinge
Hinge
Data type : num
Hinge number to weld, i.e 1,2,3, or 4. ( Hinge number is used to validate
that the weld(s) to be made are ordered by the PLC. )
\T1...\T4
Data type : tackdata
The torch (es) and the tack data ( i.e weld schedule) to be used.
Program execution
The HingeWeld instruction has the following internal sequences:
Normal Process Cycle
Verify that the weld(s) requested also are requested by the PLC.
Weld the requested welds.
Version 1.5
Page 1(2)
HingeWeld
GMT800
Wait until all weld complete(s) are issued from the appropriate weld
controller(s).
Timing diagram
Not applicable robot motion cannot occur during execution of this instruction.
Limitations
Available only if the IRB is configured for hinge welding.
Related information
Described in :
Turn shielding gas on
Instructions - GasFlowOn
Instructions - GasFlowOff
Page 2(2)
Version 1.5
GMT800
HingeWeld - tackdata
tackdata
The data tackdata defines the parameters used to control the plunge welding process.
Description
tackdata is used in the HingeWeld instruction and contains data which controls the
welding parameters in the specific tack
Components
Schedule
The schedule number to be used by the weld controller
SpareA
For future use.
SpareB
For future use.
SpareC
For future use.
SpareD
For future use.
Predefined data
The following data is predefined, and can easily be modified to suit the actual
application ( use DATA:TYPES tackdata ) :
PERS tackdata Td1 := [0,0,0,FALSE,FALSE]
PERS tackdata Td2 := [1,0,0,FALSE,FALSE]
PERS tackdata Td3 := [2,0,0,FALSE,FALSE]
PERS tackdata Td4 := [3,0,0,FALSE,FALSE]
PERS tackdata Td5 := [4,0,0,FALSE,FALSE]
The default data is stored in module PHINGDAT.MOD. If additional instances of
tackdata are created they should be stored in this module.
Version 1.1
Page 1(2)
HingeWeld - tackdata
Page 2(2)
GMT800
Version 1.1
GMT800
MoveJ
MoveJ
Examples
MoveJ p1, vmax, z30, toolgun1
The tool center point (TCP) of the tool, toolgun1, is moved along a non-linear path
to the position, p1, with speed data vmax and zone data z30.
MoveJ *, vmax \T:=5, fine, toolgun1
The TCP of the tool, toolgun1, is moved along a non-linear path to a stop point
stored in the instruction (marked with an *). The entire movement takes 5 seconds.
Arguments
MoveJ [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ]
[ \Conc ]
(Concurrent)
Data type: switch
Subsequent logical instructions are executed while the robot is moving. The
argument is used to shorten the cycle time when, for example,
communicating with external equipment, if synchronization is not required.
Using the argument \Conc, the number of movement instructions in
succession is limited to 5. In a program section that includes StorePathRestoPath, movement instructions with the argument \Conc are not
permitted.
If this argument is omitted and the ToPoint is not a stop point,( i.e. fine), the
subsequent instruction logical instruction are executed some time before
reaching the programmed zone (for further description see RAPID Reference
manual chapter 3.2 : Sequential program execution at fly by points).
Version 1.2
Page 1(4)
MoveJ
GMT800
ToPoint
Data type : robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the
instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the velocity
of the tool center point, the tool reorientation and external axes.
[ \V ]
(Velocity)
Data type : num
This argument is used to specify the velocity of the TCP in mm/s directly in
the instruction. It is then substituted for the corresponding velocity
specified in the speed data.
[ \T ]
(Time)
Data type : num
This argument is used to specify the total time in seconds during which the
robot moves. It is then substituted for the corresponding speed data.
Zone
[ \Z ]
(Zone)
Data type : num
This argument is used to specify the position accuracy of the robot TCP
directly in the instruction. The length of the corner path is given in mm,
which is substituted for the corresponding zone specified in the zone data.
Tool
[ \WObj ]
(Work Object)
Data type : wobjdata
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated
external axes are used, this argument must be specified.
Page 2(4)
Version 1.2
GMT800
MoveJ
Program execution
The tool center point is moved to the destination point with interpolation of the
axis angles. This means that each axis is moved with constant axis velocity and
that all axes reach the destination point at the same time, which results in a nonlinear path.
Generally speaking, the TCP is moved at the approximate programmed velocity
(regardless of whether or not the external axes are coordinated). The tool is
reoriented and the external axes are moved at the same time as the TCP moves. If
the programmed velocity for reorientation, or for the external axes, cannot be
attained, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next
section of the path. If a stop point is specified in the zone data, program
execution only continues when the robot and external axes have reached the
appropriate position.
Example
MoveJ *, v2000\V:=2200, z40 \Z:=45, toolgun1
The TCP of the tool, toolgun1, is moved along a non-linear path to a position stored
in the instruction. The movement is carried out with data set to v2000 and z40;
the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.
MoveJ \Conc, *, v2000, z40, toolgun1
The TCP of the tool, toolgun1, is moved along a non-linear path to a position stored
in the instruction. Subsequent logical instructions are executed while the robot
moves.
MoveJ start, v2000, z40, toolgun1\WObj:=fixture
The TCP of the tool, toolgun1, is moved along a non-linear path to a position, start.
This position is specified in the object coordinate system for fixture.
Version 1.2
Page 3(4)
MoveJ
GMT800
Related information
Described in :
Other positioning instructions
Definition of velocity
Definition of tools
Motion in general
Coordinate systems
Page 4(4)
Version 1.2
GMT800
MoveL
MoveL
MoveL is used to move the tool centre point (TCP) linearly to a given destination.
When the TCP is to remain stationary, this instruction can also be used to reorient the
tool.
Example
MoveL p1, v1000, z30, toolgun1
The TCP of the tool, toolgun1, is moved linearly to the position p1, with speed
data v1000 and zone data z30.
MoveL *, v1000\T:=5, fine, toolgun1
The TCP of the tool, toolgun1, is moved linearly to a fine point stored in the
instruction (marked with an *). The complete movement takes 5 seconds.
Arguments
MoveL [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ]
[ \Conc ]
(Concurrent)
Data type: switch
Subsequent logical instructions are executed while the robot is moving. The
argument is used to shorten the cycle time when, for example, communicating
with external equipment, if synchronization is not required.
Using the argument \Conc, the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath, movement
instructions with the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point,( i.e. fine), the
subsequent instruction logical instruction are executed some time before
reaching the programmed zone (for further description see RAPID Reference
manual chapter 3.2 : Sequential program execution at fly by points).
Version 1.2
Page 1(4)
MoveL
GMT800
ToPoint
Data type : robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
Speed
Data type : speeddata
The speed data that applies to movements. Speed data defines the velocity
of the tool center point, the tool reorientation and external axes.
[ \V ]
(Velocity)
Data type : num
This argument is used to specify the velocity of the TCP in mm/s directly in
the instruction. It is then substituted for the corresponding velocity
specified in the speed data.
[ \T ]
(Time)
Data type : num
This argument is used to specify the total time in seconds during which the
robot moves. It is then substituted for the corresponding speed data.
Zone
[ \Z ]
(Zone)
Data type : num
This argument is used to specify the position accuracy of the robot TCP
directly in the instruction. The length of the corner path is given in mm,
which is substituted for the corresponding zone specified in the zone data.
Tool
[ \WObj ]
(Work Object)
Data type : wobjdata
The work object (coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the world
coordinate system. If, on the other hand, a stationary tool or coordinated
external axes are used, this argument must be specified in order to perform a
linear movement relative to the work object.
Program execution
The robot and external units are moved to the destination position as follows:
Page 2(4)
Version 1.2
GMT800
MoveL
The TCP of the tool is moved linearly at constant programmed velocity.
The tool is reoriented at equal intervals along the path.
Uncoordinated external axes are executed at a constant velocity in order for them to
arrive at the destination point at the same time as the robot axes.
If it is not possible to attain the programmed velocity for the reorientation or for the
external axes, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of
a path. If a stop point is specified in the zone data, program execution only continues
when the robot and external axes have reached the appropriate position.
Example
MoveL *, v2000 \V:=2200, z40 \Z:=45, toolgun1
The TCP of the tool, toolgun1, is moved linearly to a position stored in the
instruction. The movement is carried out with data set to v2000 and z40; the
velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.
MoveL \Conc, *, v2000, z40, toolgun1
The TCP of the tool, toolgun1, is moved linearly to a position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
MoveL start, v2000, z40, toolgun1\Wobj:=fixture
The TCP of the tool, toolgun1, is moved linearly to a position, start. This position
is specified in the object coordinate system for fixture.
Version 1.2
Page 3(4)
MoveL
GMT800
Related information
Described in :
Other positioning instructions
Definition of velocity
Definition of tools
Motion in general
Coordinate systems
Page 4(4)
Version 1.2
GMT800
OpenRetract
OpenRetract
Example
OpenRetract 4
OpenRetract orders gun number 4 to open its retract stroke.
Arguments
OpenRetract GunNumber
GunNumber
Identification of the gun to retract (gun 1-4).
Program execution
The OpenRetract instruction has the following internal sequence:
Order the retract to open
Timing diagram
Notes:
Time
Range / units
Default time
T1
RetractOpnTime
0-8388608 seconds
0.8 seconds
Version 1.0
Page 1(2)
OpenRetract
GMT800
Close retract is
reset
Open retract is set
T1
Retract open
feedback
Next instruction
begins
Limitations
Available only if the IRB is configured for spot welding.
Related information
Described in :
CloseRetract
Instructions - CloseRetract
Instructions - Spot
Page 2(2)
Version 1.0
GMT800
PickUpTool
PickUpTool
PickUpTool requests a tool to be picked up from a tool changer. The robot must be
in the Home position when using this instruction. The path to and from the tool
changer has to be defined in the Process routine. See section Process Routines in
Chapter 3 : Routines.
Example
PickUpTool 1
A request to pickup the tool in station 1 is made.
Arguments
PickUpTool
StationNumber
StationNumber
The station number (1 or 2).
Program execution
The PickUpTool instruction has the following internal sequences:
Verify that the IRB is in the Home position
Verify that there is no active tool
Verify that there is a tool present in the requested tool station
Send open cover signal
Call routine HomeToTCxDropOff, where x is the requested station, to
move into the station
Send close latches signal
Call routine TCxDropOffToHome routine, where x is the requested station,
to return to the Home position
Send close cover signal
Version 1.0
Page 1(4)
PickUpTool
GMT800
Timing diagram
Notes:
Time
T1
T2
T3
Path
segment
PS1
PS2
Tophat tuning
name
CoverOpenTime
CoverCloseTime
LatchCloseTime
Range / units
Default time
0-8388608 seconds
0-8388608 seconds
0-8388608 seconds
2.0 seconds
2.0 seconds
2.0 seconds
Path description
Home to Pickup
Pickup to Home
Close Cover
T2
Open Cover
T1
Covers opened
feedback
Robot Motion
PS1
PS2
Open Latch
Page 2(4)
Version 1.0
GMT800
PickUpTool
Close Latch
T3
Latch opened
feedback
Tool present
feedback
Limitations
Available only when the IRB has been configured for using tool changer.
Related information
Described in :
Drop off tool at tool changer
Instructions - DropOffTool
Exchange tool
Instructions - ExchangeTool
Version 1.0
Page 3(4)
PickUpTool
GMT800
Page 4(4)
Version 1.0
GMT800
PrepareToGrip
PrepareToGrip
PrepareToGrip checks conditions to be met before picking up a part with the IRB.
Example 1
PrepareToGrip\V1
Verification that valid pick-up conditions exist for clamp(s) or part present
signal(s) connected to valve 1.
PrepareToGrip\V1\V3\V5
Verification that valid pick-up conditions exist for clamp(s) or part present
signal(s) connected to valve 1, 3 and 5.
Arguments
PrepareToGrip [\V1] [\V2] [\V3] [\V4] [\V5]
\V1 ... \V5
The valve(s) to be used.
Program execution
The PrepareToGrip instruction has the following internal sequence :
For valve(s) controlling clamp(s), check that clamps(s) are opened and that
clamps(s) are not closed.
Check for no part present on the specified valve(s).
Timing diagram
Not applicable robot motion cannot occur during execution of this instruction.
Version 1.5
Page 1(2)
PrepareToGrip
GMT800
Example 2
The PrepareToGrip instruction is used together with the GripPart instruction
to check that clamps are open and not closed and no part is held before
gripping a part.
MoveL Above_PickUp, v100, z1, toolgrip1
PrepareToGrip\V2\V5
MoveL PickUp, v50, fine, toolgrip1
GripPart\V2\V5
MoveL Away, v50, Z10, toolgrip1
Limitations
Available only if the IRB is configured for material handling.
Related information
Described in :
Release part held by IRB
Instructions - ReleasePart
Instructions - GripPart
Instructions - VerifyRelease
Page 2(2)
Version 1.5
GMT800
ReleasePart
ReleasePart
ReleasePart releases a part with clamps and/or vacuum cup(s) held by the IRB. The
IRB should be in the drop-off position when this instruction is used.
Example
ReleasePart\V1
Open clamps and / or turns off vacuum to vacuum cups connected to valve 1.
RelesePart\V1\V3\V5
Open clamps and / or turns off vacuum to vacuum cups connected to valve
1, 3, and 5.
Arguments
ReleasePart [\V1] [\V2] [\V3] [\V4] [\V5] [\NotifyPLC]
\V1 ... \V5
The valve(s) to be used.
\NotifyPLC
Data type : switch
The PLC is informed when the instruction is executed.
Program execution
The ReleasePart instruction has the following internal sequence ( only applicable
steps are performed ):
Turn off part present monitoring
Deactivate clamp close output(s)
Activate clamp open output(s)
Deactivate vacuum output(s)
Pulse vacuum blow off output(s)
Wait until Release motion delay time has expired
Verify that clamp(s) are open
Verify that clamp(s) are not closed
If \NotifyPLC is used the MachineClear5 RIO signal will be set
Version 1.5
Page 1(4)
ReleasePart
GMT800
Timing diagram
Notes:
The T2 time applies if one or more of the following conditions applies:
1. A valve supplied with the ReleasePart instruction is configured as vacuum.
2. A valve supplied with the ReleasePart instruction is configured as clamp and
feedback is not configured.
If multiple valves are supplied with the ReleasePart instruction, the highest instance of
that tuning time is used.
Time
Range / units
Default time
T1
T2
0.1 10 seconds
0.1 10 seconds
3.0 seconds
1.0 seconds
T1
Tunable time
T2
Page 2(4)
Version 1.5
GMT800
ReleasePart
Limitations
Available only if the IRB is configured for material handling.
Related information
Described in :
Prepare to grip a part with IRB
Instructions - PrepareToGrip
Instructions - GripPart
Instructions - ReleasePart
Instructions - VerifyRelease
Version 1.5
Page 3(4)
ReleasePart
GMT800
Page 4(4)
Version 1.5
GMT800
RepositionTool
RepositionTool
Example
RepositionTool 2
RepositionTool 2 indicate to the PLC that the IRB requires a specific tooling
repositioned, and waits for acknowledgment from the PLC.
Arguments
RepositionTool Tooling
Tooling
The tooling to reposition (i.e. tooling 1-2).
Program execution
The RepositionTool instruction has the following internal sequence:
Indicate to the PLC that the IRB requires a specific tooling repositioned.
Display an operator status message.
Wait for PLC acknowledgment to proceed.
Clear the request bit to the PLC.
Display an operator status message.
Version 1.1
Page 1(2)
RepositionTool
GMT800
Related information
Described in :
Work in progress status
Instructions - WorkInProgress
Instructions - WorkComplete
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - WaitForMachClr
Page 2(2)
Version 1.1
GMT800
ReturnGun
ReturnGun
ReturnGun is used with a pivot mechanism to order a spot welding gun to the
returned position.
Example
ReturnGun 3
ReturnGun order gun number 3 to the return position.
Arguments
ReturnGun GunNumber
GunNumber
The gun to return, i.e. gun 1-4
Program execution
The ReturnGun instruction has the following internal sequence:
Order the gun to the return position
Timing diagram
Notes:
Time
Range / units
Default time
T1
GunPivotTime
0-8388608 seconds
1.0 seconds
Page 1(2)
ReturnGun
GMT800
Limitations
Only to be used for pedestal spot welding guns with a pivot mechanism.
Related information
Described in :
Reposition the gun to advanced position
Instructions - AdvanceGun
Page 2(2)
Version 1.0
GMT800
Spot
Spot
Example
Spot a2101, v1000\G1:=S1, toolgun1
Spot a2102, v1000\ClsRet\G3:=S6, toolgun1
Spot is the only instruction needed to implement a spot welding sequence.
The TCP for toolgun1is moved on a linear path to the position a2101 with the
speed given in v1000.
The weld position is always a stop position. The gun, and optionally the retract
stroke, can start closing at the anticipate time prior to arrival at the
programmed position. The welding is done with Gun 1 using S1 weld data.
By default the robot executes subsequent logical instructions while the robot is
moving or waiting for a process ready signal. This might be inhibited by the
switch \UntilDone (see below).
Arguments
Spot ToPoint Speed [\ClsRet] [\G1] [\G2] [\G3] [\G4]
[\UntilDone] [\NoAntic] [\OpnRet] Tool [ WObj]
ToPoint
Data type : robtarget
The destination point of the robot and external axes.
Speed
Data type : speeddata
The speed that applies to the movement to the destination point. Defines
the velocity for the tool center point, tool reorientation, and external axes.
[\ClsRet]
( Close Retract )
Data type : switch
The optional argument \ ClsRet closes the retract stoke of the specified
gun(s) before the weld. If the argument is omitted and the retract is open
the robot will stop and a Major fault will be issued.
Version 1.1
Page 1(6)
Spot
GMT800
\G1 ... \G4
Data type : spottype
The gun(s) to be used and the characteristics specific to the spot to be
welded.
[\UntilDone]
( Until done )
Data type : switch
The optional argument \UntilDone prevents the program from continuing
execution until the spot welding process is completed. It should be used
when the next instruction is a logical instruction that depends on the
completion of the spot weld process.
[\NoAnticipate]
( No Anticipate )
Data type : switch
The optional argument \NoAntic prevents the anticipate time(s) defined in
the equipment data from being used.
[\OpnRet]
( Open Retract )
Data type : switch
The optional argument \ OpenRetract opens the specified gun(s) to there
Retract stroke (large gap) after the weld. If the argument is omitted the
gun(s) will open to there work stroke (small gap) after the weld.
Tool
[\Wobj]
( Work Object )
Date type : wobjdata
If a pedestal tool or coordinated external axes are used, this optional
argument must be specified in order to perform a linear movement
relative to the work object.
Program execution
The Spot instruction has the following internal sequences:
Normal Process Cycle, NoWeld & DryCycle Process Cycle
Receive ready to weld signal
Start motion to position
Send weld schedule signal
Send weld pressure signal
Send close retract signal (if applicable)
Send gun close signal
Send initiate weld signal
Page 2(6)
Version 1.1
GMT800
Spot
Wait for weld complete signal
Send gun open signal
Send open retract signal (if applicable)
Timing diagram
Notes:
Anticipate time always applies to the spot instruction except when the \NoAnticipate
switch is on the spot instruction.
Time
Range / units
Default time
T1
T2
T3
T4
T5
T6
WeldAncptRetrct
WeldAnticipate
RetractClsTime
GunClsTime
RetractOpnTime
GunOpnTime
0-0.5 * seconds
0-0.5* seconds
0-8388608 seconds
0-8388608 seconds
0-8388608 seconds
0-8388608 seconds
0.2 seconds
0.2 seconds
0.8 seconds
0.0 seconds
1.0 seconds
0.0 seconds
Weld anticipation has an upper limit that corresponds to the robots braking time. This
time will differ among robot models due to the range in payload and speed capabilities.
Example of a normal timing sequence for a spot weld interface with a weld gun that has
a retract stroke
Version 1.1
Page 3(6)
Spot
GMT800
Robot motion
Weld schedule
is set
Weld pressure
is set
T1
Close retract is
set
T3
Retract open
feedback
Close gun is
set
T4
T6
Start weld is
set
Weld complete
received
T5
Open retract is
set
Page 4(6)
Version 1.1
GMT800
Spot
On restart, the robot continues towards the programmed position, closes the
gun when the robot is in position, and performs the normal weld sequence.
Stop during welding and restart
When the welding is finished the gun is opened and the weld is validated. The
program pointer is pointing at the next instruction.
On restart, the robot continues towards the next programmed position.
Version 1.1
Page 5(6)
Spot
GMT800
If a strictly sequential execution is desired also in the continuous mode the
/UntilDone switch need to be set on the Spot instructions.
Limitations
Available only if the IRB is configured for spot welding
Related information
Described in :
Open Retract
Instructions - OpenRetract
Close Retract
Instructions - CloseRetract
Advance Gun
Instructions - AdvanceGun
Return Gun
Instructions - ReturnGun
Instructions - ExchangeTool
Instructions - PickUpTool
Instructions - DropOffTool
Page 6(6)
Version 1.1
GMT800
spottype
Spot - spottype
The data spottype defines the parameters used to control the weld timer and weld gun
for welding in a certain spot.
Description
spottype is used in the spot instruction and contains data which controls the welding
parameters in the specific spot.
Components
Schedule
The schedule number to be used by the weld timer
LowPressure
Defines if low gun pressure is to be used.
SpareA
For future use.
SpareB
For future use.
SpareC
For future use.
SpareD
For future use.
Version 1.0
Page 1(2)
Spot - spottype
GMT800
Predefined data
The following data is predefined, and can easily be modified to suite the actual
application ( use DATA:TYPES spottype ):
PERS spottype S1 := [1, FALSE, FALSE, FALSE, 0, 0]
PERS spottype S2 := [2, FALSE, FALSE, FALSE, 0, 0]
PERS spottype S3 := [3, FALSE, FALSE, FALSE, 0, 0]
PERS spottype S4 := [4, FALSE, FALSE, FALSE, 0, 0]
PERS spottype S5 := [5, FALSE, FALSE, FALSE, 0, 0]
When the spot instruction is executed with the S1 data :
- Weld schedule 1 is selected
- High gun pressure is used
When the spot instruction is executed with the S2 data :
- Weld schedule 2 is selected
- High gun pressure is used
The default data is stored in module PSPOTDAT.MOD. Additional spottype data
created should be stored in this module.
Page 2(2)
Version 1.0
GMT800
Stud
Stud
Example
Stud p10, vmax\H1:=Sd1, toolstud1
Stud p20, vmax\H1:=Sd1\H2:=Sd3, toolstud1
The TCP for toolstud1 is moved on a linear path to the weld position p10 with
the speed given in vmax. The weld position is always a stop position.
The weld cycle starts at the anticipate time prior to arrival at the weld position
(pedestal stud only). In the first example the welding is done with head 1 using
sd1 stud data. In the second example head 1 with sd1 stud data and head 2 with
stud data sd3 are used.
By default the robot executes subsequent logical instructions while the robot is
moving or waiting for a process ready signal. This will be inhibited by the
switch \UntilDone (see below).
Arguments
Stud ToPoint Speed [\H1] [\H2] [\UntilDone] [\NoAntic] Tool
[\WObj]
ToPoint
Data type : robtarget
The destination point of the robot and external axes.
Speed
Data type : speeddata
The speed that applies to the movement to the ToPoint. Defines the
velocity for the tool center point, tool reorientation, and external axes.
\H1 , \H2
Data type : studdata
The head(s) to be used and the stud data for the stud to be welded.
[\UntilDone]
Until Done
Version 1.5
Page 1(4)
Stud
GMT800
The optional argument \UntilDone prevents the program from continuing
execution until the stud welding process is completed. It should be used
when the next instruction is a logical instruction that depends on the
completion of the stud weld process.
[\NoAnticipate]
No Anticipate
Data type : switch
The optional argument \NoAntic prevents the anticipate time, defined in
the stud data, from being used.
Tool
[\Wobj]
Work Object
Date type : wobjdata
If a pedestal tool or coordinated external axes are used, this optional
argument must be specified in order to perform a linear movement
relative to the work object.
Program execution
The Stud instruction has the following internal sequences:
Normal Process Cycle
Start motion to position
Receive armed status signal
Advance copper backup ( Pedestal only )
For each active head the following will happen :
Send weld schedule signal
Send initiate signal(s)
Wait for weld complete signal(s)
Receive head fault signal(s)
Retract copper retract (Pedestal only)
Timing diagram
Notes:
Page 2(4)
Version 1.5
GMT800
Stud
Anticipate time only applies to pedestal stud and the absence of the \NoAnticipate switch
on the stud instruction.
Time
Range / units
Default time
T1
Anticipate time
0.1 10 seconds
0.2 seconds
Tunable time
T1
Version 1.5
Page 3(4)
Stud
GMT800
Backwards
The motion is performed backwards, no process is performed.
Limitations
Available only if the IRB is configured for stud welding.
Page 4(4)
Version 1.5
GMT800
Stud - studdata
studdata
The data studdata defines the parameters used to control the stud welding process.
Description
Studdata is used in the stud weld instruction and contains data which controls the
welding parameters.
Components
ProgramNum
The schedule number to be used by the weld controller
Spare1
For future use.
Spare2
For future use.
Spare3
For future use.
Spare4
For future use.
Predefined data
The following data is predefined, and can easily be modified to suit the actual
application ( use DATA:TYPES studdata ) :
PERS studdata Sd1 := [1,1,1,FALSE,FALSE]
PERS studdata Sd2 := [2,1,1,FALSE,FALSE]
PERS studdata Sd3 := [3,1,1,FALSE,FALSE]
PERS studdata Sd4 := [4,1,1,FALSE,FALSE]
PERS studdata Sd5 := [5,1,1,FALSE,FALSE]
The default data is stored in module PSTUDDAT.MOD. If additional instances of
studdata are created they should be stored in this module.
Version 1.3
Page 1(2)
Stud - studdata
GMT800
Page 2(2)
Version 1.3
GMT800
VerifyRelease
VerifyRelease
Example
VerifyRelease\V1
Verification that the part controlled by valve 1 has been dropped off
successfully.
VerifyRelease\V1\V3\V5
Verification that the part controlled by valves 1, 3, and 5 has been dropped off
successfully.
Arguments
VerifyRelease [\V1] [\V2] [\V3] [\V4] [\V5]
\V1 ... \V5
The valve(s) to be used.
Program execution
The VerifyRelease instruction has the following internal sequence:
Check for no part present on the specified valve(s)
Timing diagram
Not applicable robot motion cannot occur during execution of this instruction.
Version 1.5
Page 1(2)
VerifyRelease
GMT800
Example
The VerifyRelease instruction is used together with the ReleasePart instruction
to verify that a part has been released successfully:
MoveL Drop_off, v100, z1, toolgrip1
ReleasePart\V2\V5
MoveL Clear_of, v50, fine, toolgrip1
VerifyRelease\V2\V5
MoveL Away, v50, Z10, toolgrip1
Note: The gripper has to be moved away from the drop off position, in order to
lose the part present signal, before the VerifyRelease instruction can be
used.
Limitations
Available only when the IRB is configured for material handling.
Related information
Described in :
Release part held by IRB
Instructions - ReleasePart
Instructions - GripPart
Instructions - PrepareToGrip
Page 2(2)
Version 1.5
GMT800
WaitForMachClr
WaitForMachClr
WaitForMachClr is used whenever the IRB needs to wait for a machine clearance
from the PLC before it proceeds.
Example
WaitForMachClr 5
WaitForMachClr 5 indicate to the PLC that the IRB requires a machine
clearance before proceeding.
Arguments
WaitForMachClr MachineNo
MachineNo
Data type : num
The machine the IRB is entering into (i.e Machine 1-5).
Program execution
The WaitForMachClr instruction has the following internal sequence:
Check the machine clearance status
Display an operator message.
Wait for PLC machine clearance response
Display an operator message
Version 1.0
Page 1(2)
WaitForMachClr
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - RepositionTool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - EnteringMachine
Instructions - ClearOfMachine
Page 2(2)
Version 1.0
GMT800
WorkComplete
WorkComplete
WorkComplete reports IRB clear status, with respect to the work being completed.
The command may be used when the IRB is clear enough from a fixture so that it can
start unclamping prior to the IRB being clear of the transfer.
Example
WorkComplete
WorkComplete indicates to the PLC that the IRB is clear of the transfer.
Program execution
The WorkComplete instruction has the following internal sequence:
Indicate to the PLC that the IRB is clear of the work
Limitations
Work complete is not sent if :
an FFR is in progress
any application have been abandoned.
NoAppController is TRUE for one or more apps ( see chapter 7 )
NoStroke mode is entered in a spot welding application
NoProcess mode is entered when not in DryCycle
NoPart mode is entered in a Stud application when not in DryCycle.
Version 1.2
Page 1(2)
WorkComplete
GMT800
Related information
Described in :
Work clear status
Instructions - WorkComplete
Instructions - RepositionTool
Instructions - EnterZone
Instructions - ClearOfZone
Instructions - EnteringMachine
Instructions - ClearOfMachine
Instructions - WaitForMachClr
Page 2(2)
Version 1.2
GMT800
6.
Program Examples
Program Examples
The following examples on how to program the IRB are provided:
One carried application
6.1 - Spot welding
- no style used
Material handling
6.4 - No pedestal application
6.5 - One spot welding pedestal
6.6 - One spot welding pedestal
6.7 - One dispensing pedestal.
One spot welding pedestal
Bold text type indicates predefined instructions. Normal text type shows examples of
instructions and arguments added by the programmer
Version 1.1
Page 1(26)
Program Examples
GMT800
In order to describe some basic concepts figure 3.1 is used. On a proceed from a
pounce request from the PLC, the IRB, carrying the process equipment:
moves from the Pounce position to the stationary part
applies the process to the part
returns to the Home position.
Application 1
C
X
B
X
A
X
Pounce
X
Home
X
IRB
Repair
X
Figure 6.1
IRB-Carried Application
On a request from the PLC, or the Operator the IRB can go to the Repair position.
If a process error occurs during the process, i.e. App1() or App2(), the operator will
be informed by the Basic software, and the operator can select FFR (Fast Fault
Recovery). The basic software will, by following the programmed path, take the
robot to back to Home then to Repair. If pedestal application is used the IRB will go
to the last position in the application instead of the Repair position. No process is
applied during FFR-recovery.
The Process Cycle is the path from Pounce to Home. The Common routines included
in the path are defined in a Process Path Array.
An application is the value added process that the robot applies to the vehicle. There
can be up to two applications per robot. For example:
a carried welder is an application
a material handler is not an application
a material handling IRB with a pedestal welder has one application
a material handling IRB with a pedestal welder and a pedestal sealer has
two applications
a material handler / welder with a pedestal sealer has two applications
FFR ( Fast Fault Recovery) applies only to applications (not to material handling
functions), and is done for one application at a time.
Page 2(26)
Version 1.1
GMT800
6.1
Program Examples
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
General
Routines
App1()
HomeToTipdress()
TipdressToHome()
Process
Routines
Common
Routines
Figure 6.2 Routines called by the Basic software for a carried spot
weld application
The provided Process Cycle definition includes the following Common Routine. No
modification is necessary in this example.
App1()
The HomeToPounce() routine is used by the Basic Software to move the robot from
Home to the Pounce position. The App1() routine includes the actual process cycle.
The HomeToTipdress() routine etc. is only used if a tip dresser is used.
To view the routines select View : Modules in the Programming window. Select the
Module and press Enter. Select the Routine and press ENTER. See Appendix A :
Programmer Modules for a description of module name used. The box indicates the
Module where the routines are stored.
An example of a programmed path is shown in Figure 6.3.
Home
Pounce
Repair
Legend
App1()
HomeToPounce()
HomeToRepair()
HomeToTipdress()
Via position
Process position
Predefined position
Tip Dress
Version 1.1
Page 3(26)
Program Examples
Step 1:
GMT800
A tool (i.e. TCP) ReplaceME is used as the default tool. The correct tool has to be
defined, including the load definition. See Users guide for methods to define the
tool.
The default definition of the Home, Repair and Pounce positions is not a valid
definition. Execution without redefinition of the positions will case an execution
error. To define the positions, jog the robot to the correct position, mark the
instruction and press the MODPOS function key. Note that it is only necessary to
define positions as Home once since the same position is used in all routines.
In this example no intermediate positions are added for the HomeToPounce routine
since the IRB in this example is able to go directly in a straight line between Home
and Pounce.
Page 4(26)
Version 1.1
GMT800
Program Examples
MoveJ
Home,
v100,
z10,
ReplaceME
Replace_Me HomeToPounce
MoveJ
Puonce,
v100,
z10,
ReplaceME
Figure 6.4 General routines has predefined instructions for the from
position (i.e. Home) and for the to position (i.e. Pounce). The
program execution will stop at the Replace_Me instruction.
All General and Process routines include a Replace_Me instruction. The instruction
ensures that the routine will not be executed without correct via positions defined.
The instruction is replaced with the appropriate MoveX instruction(s), or deleted if
no via points are required.
Step 2:
Note that the predefined instructions use a tool called ReplaceME, that has to be
changed to the tool used, in this example toolgun1. The provided ReplaceME tool
hase an invalid tool definition and will cause an error if executed.
The Home position should already be defined, and there is no need to define it again.
Version 1.1
Page 5(26)
Program Examples
Step 3:
GMT800
The predefined DoAppStyle instructions are provided to support style specific paths.
Since they are not used in this example they can be deleted.
It is the programmers responsibility to ensure that the IRB can safely move from
Pounce to the first position in App1() and from the last position in App1() to Home().
With these positions and routines defined, the robot program is now ready for
testing.
Page 6(26)
Version 1.1
GMT800
6.2
Program Examples
Common
Routine
App1Style1()
BASIC
SOFTWARE
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
General
Routines
App1()
HomeToTipdress()
TipdressToHome()
Process
Routines
App1Style2()
App1Style3()
Style
Routines
App1Style2Opt3()
App1Style2Opt1()
Figure 6.5 Routines used for carried tool with style specific paths.
The provided Process Cycle definition includes the following Common Routine. No
modification is necessary in this example.
App1()
An example of the programmed path with only one style and one option is shown in
figure 6.6.
Legend
App1Style1()
App1Style2()
App1Style2Opt1()
Via position
Process position
Predefined position
Pounce
Step 1:
Version 1.1
Page 7(26)
Program Examples
GMT800
Step 3:
It is assumed that there is no common path between the different styles. Since there
is no common path, no path instructions need to be added to App1().
When style 2 is the current style, the DoAppStyle 2 instruction will call the
App1Style2 routine. While style 2 is the valid style DoAppStyle 1, DoAppStyle 3,
DoAppStyle 4, etc. will not call a style routine.
The style routines for styles 1, 2, and 3 must be defined:
App1Style1()
MoveL p10, v100, z10, toolgun1
MoveL p20, v100, z10, toolgun1
Spot a2101, v100\G1:=S1, toolgun1
Spot a2102, v100\G1:=S1, toolgun1
Spot a2103, v100\G1:=S1, toolgun1
Spot a2104, v100\G1:=S1, toolgun1
MoveL p30, v100, z10, toolgun1
App1Style2()
MoveL p10, v100, z10, toolgun1
Spot a2101, v100\G1:=S1, toolgun1
Spot a2102, v100\G1:=S1, toolgun1
MoveL p20, v100, z10, toolgun1
App1Style3()
MoveL p10, v100, z10, toolgun1
Spot a2101, v100\G1:=S1, toolgun1
Spot a2102, v100\G1:=S1, toolgun1
Page 8(26)
Version 1.1
GMT800
Program Examples
To support the two different options that could occur with style 2, the App1Style2()
routine would be changed to look like this:
App1Style2()
MoveL p10, v100, z10, toolgun1
DoAppOption 3
Spot a2101, v100\G1:=Sd1, toolgun1
Spot a2102, v100\G1:=Sd1, toolgun1
DoAppOption 1
MoveL p20, v100, z10, toolgun1
When option 1 is the reqired option, the DoAppOption 1 instruction will, in this
example, call the App1Style2Opt1() routine. When option 3 is the required option,
the DoAppOption 3() instruction will call the App1Style2Opt3() routine. This
requires the option routines for options 1, and 3 (for style 2) to be defined as well:
App1Style2Opt1()
Spot a2105, v100\G1:=Sd3, toolgun1
Spot a2106, v100\G1:=Sd3, toolgun1
App1Style2Opt3()
Spot a2107, v100\G1:=spot1, toolgun1
Spot a2108, v100\G1:=spot1, toolgun1
With these positions and routines defined, the robot program is now ready for
testing.
Note:
The IRB can safely move from the last position in the calling routine (
i.e App1Style2 ) to the called routine (i.e App1Style3Opt1() and
App1Style3Opt3() ).
The IRB can safely move from Pounce to the first position in App1() or
first position in App1Style1(), which ever comes first, as well as from
the last position in App1(), the style or option routine that include the
last path position to Home.
Version 1.1
Page 9(26)
Program Examples
6.3
GMT800
Application
Routine
BASIC
SOFTWARE
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
General
Routines
App1()
HomeToTipdress()
TipdressToHome()
Process
Routines
App1Style2()
Style
Routines
If style 1 is
the valid style
App1Style1()
If style 2 is
the valid style
The provided Process Cycle definition includes the following Common Routine. No
modification is necessary in this example.
App1()
Legend
App1()
App1Style1()
App1Style2()
Via position
Process position
Predefined position
Pounce
Figure 6.8 App1() include two Via positions and four Spot positions.
One of he two Style routines are called, and the App1()
ends the cycle path by providing one common Via
position.
Page 10(26)
Version 1.1
GMT800
Step 1:
Program Examples
Step 2:
When Style 2 is the selected style, the DoAppStyle 2 instruction will execute the
App1Style2() routine after the common path is executed. DoAppStyle 1 and
DoAppStyle 3 will not call a style routine as long as Style 2 is the current style. The
DoAppStyle() routine can be included once and only once for each style, but it can be
called anywhere in the common path.
The used styles must also be defined:
App1Style1()
Spot a2107, v100\G1:=S1, toolgun1
App1Style2()
Spot a2108, v100\G1:=S1, toolgun1
Spot a2109, v100\G1:=S1, toolgun1
MoveL *, v100, z10, toolgun1
Version 1.1
Page 11(26)
Program Examples
6.4
GMT800
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
PickUp1()
DropOff1()
Figure 6.9
General
Routines
Common
Routines
PickUp1()
DropOff1()
For description on how to do this see Chapter 3.6 : How to change the Process Cycle
Sequence.
Step 1:
Page 12(26)
Version 1.1
GMT800
Step 2:
Program Examples
With these routines defined the robot program is now ready for testing.
Note :
It is the programmers responsibility to ensure that the IRB can safely move
from Pounce to the first position in PickUp1(), ,from PickUp1() to
DropOff1(), as well as from the last position in DropOff1() to Home.
Version 1.1
Page 13(26)
Program Examples
6.5
GMT800
BASIC
SOFTWARE
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
App1()
DropOff1()
App1FFR()
PickUp1()
General
Routines
Common
Routines
Figure 6.10 The default structure of the routines used by a material handler with
one application and no style routines.
PickUp1()
App1()
DropOff1()
For description on how to do this see Chapter 3.6 : How to change the Process Cycle
Sequence.
1
al
t
s
de
e
P
Legend
PickUp1()
App1()
App1FFR()
DropOff1()
Via position
Process position
Predefined position
Pounce
IRB
Pick-up
Drop-Off
Page 14(26)
Version 1.1
GMT800
Step 1:
Program Examples
Step 2 :
Step 3:
Step 4:
App1FFR() provides the Basic Software with a safe path between the first position
in App1() and the last position in App1(). App1FFR() is used when the operator select
the Resume option when doing FFR ( Fast Fault Recovery)
It is the programmers responsibility to ensure that the IRB can safely move from
Pounce to the first position in PickUp1(), as well as from the last position in
DropOff1() to Home.
With these positions and routines defined, the robot program is now ready for
testing.
Version 1.1
Page 15(26)
Program Examples
6.6
GMT800
HomeToTipdress()
TipdressToHome()
BASIC
SOFTWARE
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
Pickup1()
App1()
DropOff1()
Common
Routines
App1Style1()
App1Style2()
App1Style3()
Style
Routines
App1Style1Opt1()
App1Style1Opt2()
App1FFR()
General
Routines
Figure 6.12 The structure of the routines used by a material handler with one
application using three style and two option routines. One of App1Style
routines are called. One of App1StyleOpt() routines are called
PickUp1()
App1()
DropOff1()
> move to part one drop-off position, drop off part one
> return to the Home position.
For description on how to do this see Chapter 3.6 : How to change the Process Cycle
Sequence.
Page 16(26)
Version 1.1
GMT800
Step 1 :
Program Examples
Step 2 :
When style 2 is the current style, the DoAppStyle 2 instruction will call the
App1Style2() routine. DoAppStyle 1, DoAppStyle 3, DoAppStyle 4, etc. will not call
a style routine as long as style 2 is the current style. Since no common path is used
in this example, the App1() routine does not need to be modified.
Step 3 :
Version 1.1
Page 17(26)
Program Examples
GMT800
To support the two different options that could occur with style 1, the App1Style1()
routine would be changed to look like this:
App1Style1()
MoveL p10, v100, z10, toolped1
DoAppOption 3
Spot a2101, v100\G1:=S1, toolped1
DoAppOption 1
MoveL p20, v100, z10, toolped1
Spot a2102, v100\G1:=S1, toolped1
When option 1 is the current style, the DoAppOption 1 instruction will call the
App1Style1Opt1() routine. When option 3 is the current option, the DoAppOption 3
instruction will call the App1Style1Opt3() routine. This requires the option routines
for options 1, and 3 (for style 1) to be defined as well:
App1Style1Opt1()
Spot a2108, v100\G1:=S1, toolped1
Spot a2109, v100\G1:=S1, toolped1
App1Style1Opt3()
Spot a2111, v100\G1:=S4, toolped1
Spot a2112, v100\G1:=S4, toolped1
Spot a2113, v100\G1:=S4, toolped1
Spot a2114, v100\G1:=S4, toolped1
With these positions and routines defined, the robot program is now ready for
testing.
Note : If common path can be found they should be added tot he App1() routine to
make maintenance easier.
The DoFFRstyle instructions should be added to the App1FFR routine if there
is a need for a styled based FFR path. In those cases the corresponding
App1FFRStyle() routine need to be programmed.
It is the programmers responsibility to ensure that the IRB can safely move
from Pounce to the first position in PickUp1(), as well as from the last
position in DropOff1() to Home.
Page 18(26)
Version 1.1
GMT800
6.7
Program Examples
App1FFR()
App2FFR()
Pickup1()
App1()
App1Style1()
App1ToAp2()
App1Style2()
App2()
DropOff1()
App1Style3()
App1Style3Opt1()
Figure 6.13
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
BASIC
SOFTWARE
General
Routines
Common
Routines
Style
Routines
App1Style3Opt2()
Routines used in this example. Application one is using style and option
routines. Process routines are not indicated
PickUp1()
App1()
App2()
DropOff1()
> move to part one drop-off position, drop off part one
> return to the Home position
For description on how to do this see Chapter 3.6 : How to change the Process Cycle
Sequence.
Version 1.1
Page 19(26)
Program Examples
GMT800
de
e
P
Pe
de
st
al
2
1
al
t
s
Pounce
IRB
Pick-up
Drop-Off
Legend
PickUp1()
App1()
App1FFR()
App1ToApp2()
App2()
App2FFR()
DropOff1()
Figure 6.14 Fault recovery path for each application is used to make it
possible to do FFR for one application at a time. No style
Path is shown.
Step 1:
Define General, Process and Common Routines for the first application
See Example 6.5, step 1-4
Step 2:
The Purge position has to be defined. To do this jog the robot to the correct position,
mark the instruction and press the MODPOS function key. Change Tool used.
Page 20(26)
Version 1.1
GMT800
Step 3:
Program Examples
tooldisp1
ggun1 \F1:= scaleA, z10, tooldisp1
ggun1 \F1:= ScaleB, z10, tooldisp1
ggun1 \F1:= ScaleA, z10, tooldisp1
ggun1 z10, tooldisp1
Finally the FFR recovery path for the second application and the path from the first
application to the second application need to be defined:
App2FFR()
MoveL p10, v100, z20, tooldisp1
MoveL p20, v100, z20, tooldisp1
App1ToApp2()
MoveL p10,
MoveL p20,
MoveL p30,
MoveL p40,
v100,
v100,
v100,
v100,
z20,
z20,
z20,
z20,
tooldisp1
tooldisp1
tooldisp1
tooldisp1
With these positions and routines defined, the robot program is now ready for
testing.
Note : If common path can be found they should be added to the App1() routine to
make maintenance easier.
DoFFRstyle instructions should be added to the App1FFR routine if there is a
need for a styled based FFR path. In those cases the corresponding
App1FFRStyle() routine need to be programmed.
It is the programmers responsibility to ensure that the IRB can safely move
from Pounce to the first position in PickUp1(), as well as from the last
position in DropOff1() to Home.
It must be possible to move from last position in App1xxx to App1ToApp2 and
to first position in App2xxx.
Version 1.1
Page 21(26)
Program Examples
6.8
GMT800
BASIC
SOFTWARE
App1FFR()
Pickup1()
Figure 6.15
App1()
Pickup2()
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
DropOff1()
General
Routines
Common
Routines
PickUp1()
App1()
PickUp2()
DropOff1()
> move to part one drop-off position, drop off part one
> return to the Home position.
For description on how to do this see Chapter 3.6 : How to change the Process Cycle
Sequence.
Step 1:
Page 22(26)
Version 1.1
GMT800
Step 2 :
Program Examples
With these positions and routines defined, the robot program is now ready for
testing.
Version 1.1
Page 23(26)
Program Examples
6.9
GMT800
HomeToTipdress()
TipdressToHome()
BASIC
SOFTWARE
App1FFR()
App1()
Pickup1()
PickUp1Style1()
Figure 6.16
HomeToPounce()
PounceToHome()
HomeToRepair()
RepairToHome()
General
Routines
DropOff1()
Common
Routines
PickUpStyle2()
Style
Routines
Two different pick-up positions are provide, one for style 1, and
one for style 2.
PickUp1()
App1()
DropOff1()
> move to part one drop-off position, drop off part one
> return to the Home position.
For description on how to do this see Chapter 3.6 : How to change the Process Cycle
Sequence.
Step 1:
Page 24(26)
Version 1.1
GMT800
Step 2 :
Program Examples
With these routines defined, the robot program is now ready for testing.
Note : It is the programmers responsibility to ensure that the IRB can safely move
from Pounce to the first position in the Process Cycle (i.e PickUp1(), or
PickUp1Style1 which ever comes first) as well as from the last position in
DropOff1() to Home.
Version 1.1
Page 25(26)
Program Examples
Page 26(26)
GMT800
Version 1.1
GMT800
Programming Features
7. Programming Features
This chapter describes various features that may be used during the programming
phase.
DSQC328
DSQC332
Version 1.3
Page 1(4)
Programming Features
GMT800
Page 2(4)
Version 1.3
GMT800
Programming Features
To change the value of either of these variables: from the Programming Window,
select View:Data : Types. Cursor down to bool, then press the Data function key.
Cursor down to the NoApp1Controller or NoApp2Controller item and press the
Enter key.
To disable all interaction with the controller, change the value of the variable to
TRUE. To re-enable the interaction with the controller, change the value of the
variable to FALSE. The next time the program is started from main, the new value
will take effect.
Spot Gun 1
Retract
open / close
Gun
open / close
Stud
Head
Advance /
Retract
Spot Gun 2
Retract open / close
Gun open / close
Figure 7.1
Version 1.3
Page 3(4)
Programming Features
Page 4(4)
GMT800
Version 1.3
GMT800
General
To turn off all interaction with an application controller, a weld or dispense
controller, or example, if that controller has not been installed or is not yet
functional, use bool variables NoApp1Controller and NoApp2Controller. By
default, the value of these variables is FALSE, meaning a controller IS present and
functional.
To change the value of either of these variables: from the Programming Window,
select View:Data:Types. Cursor down to bool and press Enter. Cursor down to the
NoApp1Controller or NoApp2Controller item and press Enter.
To disable all interaction with the controller, change the value of the variable to
TRUE. To reenable the interaction with the controller, change the value of the
variable to FALSE. The next time the program is started from main, the new value
will take effect.
Spot Welding
Water Monitoring
To disable water monitoring for a spot welding application, set the digital output
ExtDisWater1 to a value of 1. If a second water circuit is in use, then
ExtDisWater2 could also be set. The water monitoring will be disabled
immediately on setting these signals.
To re-enable the monitoring, simply turn the signals off again. When the next cycle
is executed, the water monitoring will be re-enabled.
Version 1.3
Page 1(6)
GMT800
Hinge Welding
No enable/disable features.
Dispensing
No enable/disable features.
Stud Welding
Auto FFR
Set boolean variable AutoFFRModeSel to TRUE to enable automatic FFR, to
FALSE to disable it. This variable can be accessed using View:Data:Types and
selecting bool.
Page 2(6)
Version 1.3
GMT800
Version 1.3
Page 3(6)
GMT800
Material Handling
Part Present Monitoring
Enable (Default)
From the I/O menu, select View: Boards, highlight and select the board named
MTHDSIM and set the digital output ExtEnablePPMon to a value of 1.
After setting this output, a menu will be presented on the teach pendant which
will allow the user to:
select a specific part present switch
prompt for more part present switch selections
cancel the operation
The digital output ExtEnablePPMon will automatically be set to a value of 0.
If a part present switch is selected, an acknowledgment window will be displayed
to indicate that the desired action has been performed and will prompt the user to
press OK to continue.
Disable
From the I/O menu, select View: Boards, highlight and select the board named
MTHDSIM and set the digital output ExtDisablePPMon to a value of 1.
After setting this output, a menu will be presented on the teach pendant which
will allow the user to:
select a specific part present switch
prompt for more part present switch selections
cancel the operation
The digital output ExtDisablePPMon will automatically be set to a value of 0.
If a part present switch is selected, an acknowledgment window will be displayed
to indicate that the desired action has been performed and will prompt the user to
press OK to continue.
Tool Change
Cover Feedback
If a tool change station is not fitted with a cover, execute routine DisableToolCover
to disable all fault handling for the cover of a specified station. If a cover is installed
Page 4(6)
Version 1.3
GMT800
at a later time, execute routine EnableToolCover. This will re-activate all the fault
handling for the cover on the specified station. Each of these routines requires the
tool change station number to be specified.
Version 1.3
Page 5(6)
Page 6(6)
GMT800
Version 1.3
Appendix
Appendix A
Programmer Modules
Version 1.0
Programmer Modules
Carried Applications
Second Application
PA2S3PTH
PA2S2PTH
PA2S1PTH
PAPP2PTH
App2()
App2FFR()
App1ToApp2()
First Application
Process
Routine
PSPOTPTH
TipDress
HomeToTipDress()
TipDressToHome()
PAPP1PTH
App1()
PA1S3PTH
PA1S2PTH
PA1S1PTH
App1Style1()
App1Style1Opt1()
App1Style1Opt2()
App1Style1Opt3()
All Configurations
PAPP1PTH
App1()
App1FFR()
PickUp1()
PickUp2()
DropOff1()
DropOff2()
PA1S3PTH
PA1S2PTH
PA1S1PTH
App1Style1()
App1Style1Opt1()
Common
Routines
Style
Routines
PickUp1Style1()
PickUp2Style1()
DropOff1Style1()
DropOff2Style1()
App1FFRStyle1()
PGENRDAT
Home
Pounce
Repair
PGENRPTH
HomeToPounce()
HomeToRepair()
RepairToHome()
PounceToHome()
General
Routines
ProcessPath{}
PROGMODL.DOC 1/30/2006
Module Name
: Optional Module
: Mandatory Module
Appendix
Appendix B
Predefined Routines
Version 1.0
GMT800
Appendix C.
Anticipate
time
Glossary
Glossary
The amount of time before a particular event, condition or
action should be initiated.
Application Type of process that is performed by the IRB. For example, spot
welding or gluing. Material handling is no application.
Delay time Amount of time to wait after initiating some action for that action to
be completed.
FFR
General
Routines
Home
IRB
Industrial Robot.
Major fault Error issued by the IRB, based on a condition in the process
(e.g., a bad weld) or peripheral equipment. This fault requires
operator intervention; the process is halted until an operator
response is received.
Minor fault Warning issued by the IRB, based on a condition in the process
or the peripheral equipment. IRB program is not stopped;
operator intervention is not required.
Part
Pounce
Process
Routines
Version 1.0
Page 1(2)
Glossary
GMT800
Process
Cycle
Process
RAPID
Style
Routines
TPU
Teach Pendant unit. The hand held unit used to program the IRB.
Page 2(2)
Version 1.0