Tool And Speed Data - ABB IRBP Product Manual

8.8 Tool and speed data

Definition of the tool data (tload)
These are the movement related data that should be defined first. All movement
is dependent on this definition.
The following data components are recommended for the tool.
robhold
tframe
tload
Welding guns with swan neck
Welding gun
type
ESAB PSF
315R
ESAB PSF
500R
Dinse PKI 500
Binzel WH
455
Dinse PP Alu.
The five standard welding gun types above are predefined with the right tload in
the module Tooldata.sys.
Setup welding gun without BullsEye
The position of the robot and its movements are always related to its tool coordinate
system, that is the TCP and tool orientation. To get the best performance, it is
important to define the tool coordinate system as correctly as possible.
Product manual - IRBP /D2009
3HAC037731-001 Revision: T
Note
When using the option Collision Detection, it is very important to have the right
tool load in the tool data.
true
5-point TCP&Z is normally used with weaving during MIG/MAG
welding.
Without weaving, the 4-point TCP is sufficient.
Values for the supplied standard welding guns and guns with a swan
neck.
Swan neck
22 degrees
22 degrees
22 degrees
22 degrees
22 degrees
• Always use one of these tools when using a standard welding gun.
• Duplicate and change the name of the tool data if you want to make your
own tool.
• If you use a non-standard welding gun it is necessary to run the load
identification service routine, see
IRBP on page 289.
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8 Calibration information
Weight /kg X mm
3.3 -60
3.3 -60
3.3 -35
3.3 -35
4.4 -20
Identification of load data for positioners
8.8 Tool and speed data
Y mm Z mm
0 57
0 57
0 90
0 55
0 120
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