ABB IRB 6400R Product On-Line Manual page 122

DispenseWare 3.2
4.6 DispenseWare 3.2
The DispenseWare package provides support for different types of dispensing
processes such as gluing and sealing.
The DispenseWare application provides fast and accurate positioning combined with a
flexible process control.
Communication with the dispensing equipment is carried out by means of digital and
analog outputs.
DispenseWare is a package that can be extensively customized. The intention is that the
user adapts some user data and routines to suit a specific dispensing equipment and the
environmental situation.
Dispensing features
The DispenseWare package contains the following features:
- Fast and accurate positioning.
- Handling of on/off guns as well as proportional guns.
- Speed proportional or constant analog outputs.
- Up to five different guns can be handled simultaneously, controlled by 1 - 5
digital output signals (for gun on/off control) and 1 - 2 analog output signals
(for flow control).
- Four different gun equipment, each controlled by 1 - 5 digital output signals
and 1 - 2 analog output signals, can be handled in the same program.
- Possibility to use different anticipated times for the digital and analog signals.
- Possibility to use equipment delay compensation for the TCP speed
proportional analog signals.
- Global or local flow rate correction factors.
- Dispensing instructions for both linear and circular paths.
- Dispensing in wet or dry mode.
- Wide opportunities of customizing the functionality to adapt to different types
of dispensing equipment.
44 Product Specification RobotWare for BaseWare OS 3.2