Product manual

SpotWare 3.2
38 Product Specification RobotWare for BaseWare OS 3.2
Immediate move after Move enable
The robot moves immediately when enable is given. This is achieved by preparing the
next action while waiting for the current weld to be completed.
Gun control
The system supports double guns, small and large strokes and gun pressure control.
Several guns can be controlled in the same program.
Testing the program
The program can be run one instruction at a time, both forwards and backwards. When
it is run backwards, only motion instructions, together with an inverted gun movement,
are executed. The program can also be test run without connecting a weld timer or spot
welding gun. This makes the program easier to test.
Rewelds
A function that can be configured to order one or more automatic rewelds or, when the
program is restarted after an error, a manual reweld.
Process error routines
In the event of a process error, installation-specific routines, such as go-to-service
position, can be ordered manually. When the appropriate routine has been performed,
the weld cycle continues from where it was interrupted.
Manual welding independent of positioning
A spot weld can be ordered manually at the current robot position. This is implemented
in a similar way as for program execution, i.e. with gun control and process
supervision. It is also possible to order a separate gun control with full supervision.
Interface signals
The following process signals are, if installed, handled automatically by SpotWare.
Digital outputs Description
start 1 start signal to the weld timer (tip 1)
start 2 start signal to the weld timer (tip 2)
close tip 1 close gun (tip 1)
close tip 2 close gun (tip 2)
work select select work or retract stroke of the gun
program parity weld program parity bit
reset fault reset the weld timer
process error operator request is set when an error occurs
current enable weld inhibit to the weld timer
p2 request set pressure 2
p3 request set pressure 3
p4 request set pressure 4
weld power activate the weld power unit contactor
water start activate water cooling