Basic Characteristics RAPID

Routines
The following predefined routines are installed with the application. They are all used
by the SpotL instruction.
These routines have a default functionality but can easily be changed.
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.
PROC 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.
PROC 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.
PROC sw_service_wf ();
spotweld service weld fault
The routine is executed when the error “Weld ready timeout” occurs and the function
key “Service” is pressed.
By pressing Reweld back from the service, a new attempt to weld the spot is made and
then program execution is continued.
14-SWUSRF-2 RAPID Reference Manual