Basic Characteristics RAPID

sw_postweld_sup
The routine is executed after the weld process and before movement to the next
position.
If an error text is assigned to the text string errtext, then the system is automatically
stopped with the error text on the display and with a possibility to restart the
supervision routine and continue the program execution.
Default functionality:
The work_select signal is set or reset according to the Retract switch in the instruction.
sw_bwd_sup
The routine is executed when the SpotL instruction is executed backwards, and before
the movement to the previous position.
Default functionality:
The work_select signal is set or reset according to the Retract switch in the instruction.
User defined service routines:
After execution of a service routine, the robot moves to the interrupted weld position
with reduced speed. The text “Service routine ready” and the old function keys are
shown.
sw_service_cg (spotweld service close gun)
The routine is executed when the gun error “Gun pressure not reached” occurs and the
function key “Service” is pressed.
By pressing Retry back from the service routine, a new attempt to close the gun is made
and then program execution continues.
Default functionality:
No functions, only an information text and a “Return” key are shown. The service
routine is ended when “Return” is pressed.
sw_service_og (spotweld service open gun)
The routine is executed when the gun error “Gun open timeout” occurs and the function
key “Service” is pressed.
By pressing Retry back from the service, a new test will be made if the gun is open, and
then program execution continues.
Default functionality:
No functions, only an information text and a “Return” key are shown. The service
routine is ended when “Return” is pressed.
14-SWUSER-4 RAPID Reference Manual