Arcware Plus 3.2 - ABB IRB 6400R Product On-Line Manual

ArcWare Plus 3.2

4.2 ArcWare Plus 3.2
ArcWare Plus contains the following functionality:
- ArcWare, see previous chapter.
- Arc data monitoring.
Arc data monitoring with adapted RAPID instructions for process supervision.
The function predicts weld errors.
- Contour tracking.
Path corrections can be made in the path coordinate system. These corrections
will take effect immediately, also during movement between two positions. The
path corrections must be entered from within the program. An interrupt or mul-
titasking is therefore required to activate the correction during motion.
Example of application:
A sensor is used to define the robot input for path correction during motion. The
input can be defined via an analog input, a serial channel or similar. Multitask-
ing or interrupts are used to read this information at specific intervals. Based on
the input value, the path can then be adjusted.
- Adaptive process control.
Adaptive process control for LaserTrak and Serial Weld Guide systems. The
tool provides the robot system with changes in the shape of the seam. These val-
ues can be used to adapt the process parameters to the current shape.
RAPID instructions and functions included in this option
ArcKill
ArcRefresh
CorrCon
CorrWrite
CorrRead
CorrDiscon
CorrClear
SpcCon
SpcWrite
SpcDump
SpcRead
SpcDiscon
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Aborts the process and is intended to be used in error
handlers
Updates the weld references to new values
Activating path correction
Changing path correction
Read current path correction
Deactivating path correction
Removes all correction generators
Activates statistical process supervision
Provides the controller with values for statistical process super-
vision
Dumps statistical process supervision data to a file or on a
serial channel
Reads statistical process supervision information
Deactivates statistical process supervision
Product Specification RobotWare for BaseWare OS 3.2