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    Rosario Training

    Uploaded by

    Rodrigo Caldeira
    The document provides information about Global Robot software and programming. It discusses the following: 1) The software version used is Spot Tool+ 7.20/P40 or Spot Tool + 7.20/P32/P40. The software is modular and routine-based for ease of use, maintenance, and upgrades. 2) A sample program is shown to illustrate how main programs call standard routines to execute specific motions like moving to a pounce position or home position. 3) A comparison is made between setup and programming of servo guns versus air guns for welding applications. Servo guns require more precise setup and programming of parameters like pressure and distance.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Rosario Training

    Uploaded by

    Rodrigo Caldeira
    146 views10 pages
    The document provides information about Global Robot software and programming. It discusses the following: 1) The software version used is Spot Tool+ 7.20/P40 or Spot Tool + 7.20/P32/P40. The software is modular and routine-based for ease of use, maintenance, and upgrades. 2) A sample program is shown to illustrate how main programs call standard routines to execute specific motions like moving to a pounce position or home position. 3) A comparison is made between setup and programming of servo guns versus air guns for welding applications. Servo guns require more precise setup and programming of parameters like pressure and distance.

    Original Description:

    Treinamento padrão GM

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    The document provides information about Global Robot software and programming. It discusses the following: 1) The software version used is Spot Tool+ 7.20/P40 or Spot Tool + 7.20/P32/P40. The software is modular and routine-based for ease of use, maintenance, and upgrades. 2) A sample program is shown to illustrate how main programs call standard routines to execute specific motions like moving to a pounce position or home position. 3) A comparison is made between setup and programming of servo guns versus air guns for welding applications. Servo guns require more precise setup and programming of parameters like pressure and distance.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    146 views10 pages

    Rosario Training

    Uploaded by

    Rodrigo Caldeira
    The document provides information about Global Robot software and programming. It discusses the following: 1) The software version used is Spot Tool+ 7.20/P40 or Spot Tool + 7.20/P32/P40. The software is modular and routine-based for ease of use, maintenance, and upgrades. 2) A sample program is shown to illustrate how main programs call standard routines to execute specific motions like moving to a pounce position or home position. 3) A comparison is made between setup and programming of servo guns versus air guns for welding applications. Servo guns require more precise setup and programming of parameters like pressure and distance.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    Global Robot Training

    Global Robot Training

    Some of Global Robot Models used


    at GM are:
    1. R2000iB/210F (Rosario)
    2. M900iA/260L (Rosario, but with
    Legacy option)
    3. M900iA/350 (Not in Rosario)
    4. ArcMate 120iB (Rosario)

    05/20/2009

    Global Robot Training

    Software version is :
    Spot Tool+ 7.20/P40
    Or

    Core Software for


    Global Robots

    Spot Tool + 7.20/P32/P40


    Software Version
    for Global Robots
    when robot was
    first loaded with
    GM software

    05/20/2009

    Robot Updated to
    Latest GM
    software

    Global Robot Training

    Global Robot Software is Modular


    (Routine based or Macro based)
    Benefits of Modular Software
    Easy to use
    Easy to maintain and upgrade
    Easy to debug
    No need to write any programs
    Enhancements and bugs reported
    to the standards group from GM
    worldwide are easily incorporated
    in software
    Software is written to specifications
    Approx. 200 routines in GM
    software

    05/20/2009

    Global Robot Training


    Basic Concept Of Program Execution
    PLC CONTROLS THE ROBOT

    PLC
    OK to Continue
    (Optional)

    OK to Continue
    Initiate

    Echo
    At Pounce

    Main
    Style
    Program

    Pounce
    Routine
    Robot moves
    to pounce
    position

    8/26/2015

    Complete
    (Optional)

    Process
    Routine
    Robot moves into
    process path and
    finishes path

    Reset all I/O


    At Home

    Move to
    Home
    Routine
    Robot
    moves to
    Home
    Position

    GM CONFIDENTIAL

    Global Robot Training


    What is Modular Program?

    Main Program
    (Style #)

    Routine 1
    (Pounce)
    Routine 4
    (Move Home)

    Routine 2
    (Set Segment)

    05/20/2009

    Routine 3
    (Path Motion)

    Global Robot Training


    Sample Program
    STYLE PROGRAM
    1: !******************************** ;
    2: !PROGRAM : VIVA COMMON ;
    3: !ASSEMBLY: Rear Long. ;
    4: !ROBOT ID: CL010R01 ;
    5: !******************************** ;
    6: ;
    Tells PLC Style number
    7: GO[2:ManualStyle]=1 ;
    8: ;
    Standard Routine
    9: CALL POUNCE ;
    10: ;
    Standard Routine
    11: MAINT_PROG=MOV_REPR ;
    12: ;
    13: CALL STPR_CHK ;
    Standard Macro
    14: ;
    15: CALL S01DCDPR ;
    Decision Routine
    16: ;
    17: MOVE TO HOME ;
    Standard Macro

    8/26/2015

    GM CONFIDENTIAL

    Global Robot Training


    Pounce Routine
    1: !PATH: pounce ;
    2: !******************************** ;
    3: !PROGRAM : 4200 COMMON ;
    4: !ASSEMBLY: Rear Long. ;
    5: !ROBOT ID: CL010R01 ;
    6: !******************************** ;
    7: !MOVE TO POUNCE - PATH SEGMENT ;
    8: SET SEGMENT(1) ;
    Standard Macro: Tells PLC
    9: PAYLOAD[1] ;
    Path Segment Robot is
    10: UTOOL_NUM=1 ;
    executing
    11: ;
    12:J P[1] 100% FINE ;
    Actual Move to Pounce
    13: ;
    Position
    14: ECHO OPTION ;
    15: ;
    Standard Macro
    16: AT POUNCE ;
    Standard Routine

    8/26/2015

    GM CONFIDENTIAL

    Global Robot Training


    AT POUNCE MACRO
    1: !******************************** ;
    2: !MACRO AT POUNCE ;
    3: !******************************** ;
    4: ;
    5: !RESET TASK OK ;
    6: DO[41:TaskOK]=OFF ;
    7: ;
    8: MESSAGE[WAITING AT POUNCE] ;
    9: ;
    Standard Macro
    10: REQUEST CONTINUE ;
    11: ;
    12: R[151:Reserved]=$SHELL_WRK.$CUR_DECSN ;
    13: ;
    14: IF R[151:Reserved]=15,CALL HOMFRPON ;
    15: MESSAGE[LEAVING POUNCE] ;
    16: ;
    17: ! SET TASK OK ;
    18: DO[41:TaskOK]=ON ;
    ;

    8/26/2015

    GM CONFIDENTIAL

    Global Robot Training


    SERVO GUN versus AIR GUN
    1. Setup is different and very important
    2. Absolute system so cap change is very
    critical
    3. Robot controls the gun
    4. Robot controls the pressure
    5. Robot does the equalizing
    6. Weld Spot programmed with stationary
    tip touching the metal
    7. Pressure Table and Distance Table
    8. Spot command looks different
    1 : L P[5:w12345] 400mm/sec CNT100
    : SPOT[SD=31,P=1,S=30,ED=31] ;

    9. Termination type for a weld spot should


    be CNT100

    8/26/2015

    10

    GM CONFIDENTIAL

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