ABB IRB 6400R Product On-Line Manual page 116

SpotWare 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
start 1
start 2
close tip 1
close tip 2
work select
program parity
reset fault
process error
current enable
p2 request
p3 request
p4 request
weld power
water start
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Description
start signal to the weld timer (tip 1)
start signal to the weld timer (tip 2)
close gun (tip 1)
close gun (tip 2)
select work or retract stroke of the gun
weld program parity bit
reset the weld timer
operator request is set when an error occurs
weld inhibit to the weld timer
set pressure 2
set pressure 3
set pressure 4
activate the weld power unit contactor
activate water cooling
Product Specification RobotWare for BaseWare OS 3.2