Glueware 3.2 - ABB IRB 6400R Product On-Line Manual

GlueWare 3.2

4.5 GlueWare 3.2
GlueWare comprises a large number of dedicated gluing functions which make the
robot well suited for gluing and sealing. It is a simple yet powerful program since both
the positioning of the robot and the process control are handled in one and the same
instruction.
I/O signals and timing sequences can be easily configured to meet the requirements of
a specific installation.
GlueWare functions
A few examples of some useful functions are given below.
Adaptation to different gluing guns
Both on/off guns and proportional guns can be handled. Furthermore, time delays can
be specified for the gluing guns in order to obtain the correct thickness of glue or
sealing compound and application at the specified time.
Two gluing guns
One or two gluing guns can be controlled. Up to two analog outputs can be controlled
for each gun.
Velocity independent glue string thickness
The thickness of the glue string can be made independent on the robot's velocity by
controlling the gluing gun with a signal that reflects the robot's velocity. When the
robot velocity is reduced, the flow of glue will be automatically reduced. The robot can
compensate for a gun delay of up to 500 ms, thanks to a proactive signal.
Flow change at a specific position
Flow changes (incl. start and stop) can be put into the programmed path, also where
there are no programmed positions. These positions will remain fixed even when the
velocity is changed, which makes the programming much simpler.
Global flow changes
The glue flow can be changed for the whole program just by changing one value.
Program testing without glue
Gluing can be temporarily blocked in order to be able to test the robot's movements
without any glue flow.
42 Product Specification RobotWare for BaseWare OS 3.2