Programmable Resource Controllers for a Spot Profile

This section provides a global understanding of programmable resource controllers (i.e., what it will do, and how it relates to what the product/component does).

The weld gun is an auxiliary device of the robot. The robot controls the weldgun. This means there is only a robot task which performs both robot motion as well as weldgun motion (firing of the weldgun). The spot welding operation is responsible for the weldgun motion.

On a given programmable resource controller there are default profiles. These profiles are groups of attributes gathered based on the following types:

  • tool: attributes dealing with the tool, if any
  • motion: attributes controlling the motion parameters
  • accuracy: attributes specifying the level of accuracy of the motion of the representing
  • object frame: attributes related to referencing frames management

In addition to these profiles, any application may define an applicative specific profile. Spot Profile is one such profile that is dedicated to Spot Welding.

Either Servo gun or Air gun can be used to perform Spot welding. Servo guns are more commonly used compared Air guns these days.

In the case of a Servo gun, the weld gun is an auxiliary device of the robot. The robot controls the weldgun too. This means there is only a robot task which performs both robot motion as well as weldgun motion (firing of the weldgun). In case of Air Gun, the robot and the weldgun are two independent devices. This means robot task performs just the robot motion and whenever Gun motion (gun firing) has to be performed, weldgun task is executed to perform the weldgun motion (gun firing).

In case of Air gun, the spot welding is emulated by simple close gun, weld delay and open gun by the weldgun task. This weldgun task is called by the spot welding activity in robot task whenever welding has to be done. When a Spot Operation in a robot task is simulated, the Spot Operation would run the associated Weld Gun task which would typically perform a simple close gun, weld delay and open gun motion.

The weldgun motion emulates following motions. Each motion in turn is controlled by set of attributes that are stored in the Spot profile of the controller. Each Spot operation in the robot task will have a link to a Spot profile. Multiple Spot operations can point to a spot profile.

  • Approach Move
  • Pressure Start Move
  • Pressure Move
  • Weld
  • Pressure End Move
  • Backup Move

When a Spot Operation in a robot task is simulated, all of the above mentioned motions can be visualized.

In the case of a Servo gun, the weldgun motion constitutes of following controller/model attributes and motions. Each motion in turn is controlled by set of attributes as shown below:

  • Controller Attributes
    1. Gun 1 Joint Number
    2. Gun 2 Joint Number
    3. Gun 1 Closed Joint Value
    4. Gun 2 Closed Joint Value
  • Model Attributes
    1. Perform Approach Move
    2. Perform Pressure Start Move
    3. Perform Pressure End Move
    4. Perform Backup Move
    5. Robot Approach Direction
    6. Part Thickness
  • Approach Move
    1. Gun 1 Moving Tip Clearance
    2. Gun 2 Moving Tip Clearance
    3. Approach/Backup Move stationary tip clearance
  • Pressure Start Move
    1. Gun 1 Moving Tip Clearance
    2. Gun 2 Moving Tip Clearance
    3. Pressure Start Move stationary tip clearance
  • Pressure Move
    1. Pressure Move Push Depth
    2. Pressure Move Accuracy profile
    3. Pressure Move Acceleration
    4. Pressure Speed factor
  • Weld
    1. Weld Delay
  • Pressure End Move
    1. Gun 1 Moving Tip Clearance
    2. Gun 2 Moving Tip Clearance
    3. Pressure End Move stationary tip clearance
    4. Pressure End Move Accuracy Profile
    5. Pressure End Move Acceleration
  • Backup Move
    1. Backup Move Gun 1 Stroke
    2. Backup Move Gun 2 Stroke
    3. Approach Backup Move Stationary Tip Clearance
    4. Backup Move Accuracy Profile
    5. Backup Move Acceleration

Spot profile is used only in case of servo gun. Since there are no attributes associated to spot welding with air gun, spot profile is of no use in case of air gun.

A spot profile can be associated to a spot welding activity using one of the following ways.

  • Generate Spot Task from Trajectory.
  • Edit Spot Welding operation
  • Teach command in Device Task Design product.

In addition to default profiles (tool profile, motion profile, etc) and applicative profiles (Spot Profile), you can define their own set of attributes as a user profile.