Page 10 of catalogue Robot controller of Motoman robotec GmbH

Software functions
The Advanced Robot Motion function improves quality and productivity for applications where correct path and high speed is needed e.g. Laser cutting, Water jet cutting, gluing and sealing application. By integrated Collision Detection function the robot tool, fixtures and jigs as well as the robot arm itself are protected against damages. Moment limits may be individually set. The XRC System gives possibility to control 27 Axes from one single CPU, three robots with external axes could be used for synchronuous motion or for individual jobs. Using the Twin-Drive function, two external servomotors may be used for synchronuous drive of a heavy fixture or large track (e.g. Welding application). Endless Rotation of robot axis (T-axis) or an external axis. Normally a servo motor is limited to one or two turns in each direction. By this function wrapping/unwrapping processes or painting applications are improved and no time consuming reset of the turning is needed. The XRC system can handle six tasks at the same time ”Multi-Tasking” such as robot jobs, concurrent I/O master job. By means of special commands programming and editing is made easily. Welding Parameters (welding current, wire speed, weaving, etc.) for a special welding power source may be saved in a data file (charcteristics). Start conditions, end conditions are easily added to the robot job by calling ARCON/ARCOF-command, which reduces the programming time. Other parameters for welding may be set, such as: Retry function and Restart function. Of course, it is possible to set individual values for voltage, current wire feed, etc. for a single welding string. Communication interface between XRC system and e.g. a PC may be handled in several ways. A PC-card (PCMCIA) slot is integrated in the CPU-rack. This PC-card can be used as backup of user memory (jobs) and also for upgrading of system software. For advanced communication the RS-232C serial interface or optional Ethernet board is used. This together with our PC software puts the robot into your network. Robot jobs may be down- and uploaded to the system from a central computer. The robot can be remotecontrolled. The Interrupt Job function is used when the robot serves e.g. one or several tooling Machines. A signal from the machine makes the robot to interrupt its job for a moment to serve the machine and then returns to maintain its main job, e.g. deburring. The Search function is used when the workpiece may vary in size or position e.g. picked up from a pallet or roughly cut pieces at welding application. The data from the sensor adjusts the robot job. In arc welding applications the COMARC package (including: start point search function, seam tracking and multi layer) increase the productivity by decreasing the demands of the accuracy of the workpiece. It automatically adjusts the robot job due to the actual conditions. Multi layer function reduces the programming time in heavy welding applications. When the robot is used together with a machine tool for placing the workpiece in the chuck, the Servo Float function allows the robot arm to float with torque control making it flexible with external forces.