ABB IRBP, Product Manual

Page: 287 / 334

8.8 Tool and speed data
Definition of the tool data (tload)
These are the movement related data that should be defined first. All movement
is dependent on this definition.
Note
When using the option Collision Detection , it is very important to have the right
tool load in the tool data.
The following data components are recommended for the tool.
true robhold
5-point TCP&Z is normally used with weaving during MIG/MAG
welding.
tframe
Without weaving, the 4-point TCP is sufficient.
Values for the supplied standard welding guns and guns with a swan
neck. tload
Welding guns with swan neck
Z mm Y mm X mm Weight /kg Swan neck Welding gun
type
57 0 -60 3.3 22 degrees ESAB PSF
315R
57 0 -60 3.3 22 degrees ESAB PSF
500R
90 0 -35 3.3 22 degrees Dinse PKI 500
55 0 -35 3.3 22 degrees Binzel WH
455
120 0 -20 4.4 22 degrees Dinse PP Alu.
The five standard welding gun types above are predefined with the right tload in
the module
Tooldata.sys
.
• Always use one of these tools when using a standard welding gun.
• Duplicate and change the name of the tool data if you want to make your
own tool.
• If you use a non-standard welding gun it is necessary to run the load
identification service routine, see
Identification of load data for positioners
IRBP on page 289 .
Setup welding gun without BullsEye
The position of the robot and its movements are always related to its tool coordinate
system, that is the TCP and tool orientation. To get the best performance, it is
important to define the tool coordinate system as correctly as possible.
Continues on next page
Product manual - IRBP /D2009 287
3HAC037731-001 Revision: T
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8 Calibration information
8.8 Tool and speed data