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

4.7 PaintWare 3.2

PaintWare comprises a large number of dedicated painting functions which make the
robot well suited for painting and coating operations. It is powerful, yet simple since
both the robot positioning and the paint events are handled in one and the same
instruction. All phases of the paint process are controlled, such as start, change, and
stop painting, due to trig plane events.
The necessary structures for paint process data are predefined and organised as
BrushData and BrushTables.
PaintWare is only avaliable with painting robots.
PaintWare functionality
When painting, the fluid and air flow through the spray gun is controlled to suit the part
being coated and the thickness requirements. These process parameters are changed
along the path to achieve optimum control of the paint equipment along an entire path.
The paint process is monitored continuously.
A set of gun process parameters is called a Brush and it is possible to select different
brushes during a linear paint instruction. A brush can contain up to five parameters:
Paint
Atom_air
Fan_air
Voltage
Rotation
The five parameters may go directly to analog outputs controlling the spray gun in an
open loop system, or may go to dedicated I/O boards for closed loop gun control (IPS).
The Brushes are set up as an array, called a BrushTable. A specific BrushTable is
selected with the instruction UseBrushTab.
The changing of brushes along a path is done using events in the PaintL instruction.
The event data describes how a trig plane is located in the active object coordinate
system. It also describes which brush to use when the path crosses the plane. Event data
is included in all linear paint instructions as optional arguments. A maximum of ten
events can be held within one PaintL instruction.
Data types included in this option
BrushData
EventData
Product Specification RobotWare for BaseWare OS 3.2
The Paint flow reference.
The Atomising air reference.
The Fan air reference.
The Electrostatic voltage reference.
The Rotation speed reference (for rotational applicators).
Data for one brush: flow, atomising air, fan air, etc.
Data for one event: trig-plane (x, y or z), plane value and brush
numberPaintL, PaintC, UseBrushTab,
PaintWare 3.2
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