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)

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 Global Robot Training

Software version is :

Spot Tool+ 7.20/P40

Core Software for

Or Global Robots

Spot Tool + 7.20/P32/P40

Software Version
Robot Updated to
for Global Robots
Latest GM
when robot was
software
first loaded with
GM software

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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

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Basic Concept Of Program Execution

PLC CONTROLS THE ROBOT

PLC

OK to Continue
OK to Continue Reset all I/O
Initiate (Optional)
Echo
Complete
At Pounce At Home
(Optional)

Main Pounce Process Move to

Style Routine Routine Home
Program Routine
Robot moves Robot moves into
to pounce process path and Robot
position finishes path moves to
Home
Position

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 Global Robot Training
What is Modular Program?

Main Program
(Style #)

Routine 1
(Pounce)
Routine 4
(Move Home)

Routine 2 Routine 3
(Set Segment) (Path Motion)

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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 ;
16: ; Decision Routine
17: MOVE TO HOME ;

Standard Macro

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 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: ;
16: AT POUNCE ; Standard Macro

Standard Routine

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 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: ;
10: REQUEST CONTINUE ; Standard Macro
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 ;
;

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 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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