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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

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GM CONFIDENTIAL