Arcwarepl 3

ProcessWare
ArcWare Plus On-line
ABB Flexible Automation

ABB Robotics Products AB
DPT / MT
S-72168 VÄSTERÅS
SWEDEN
Telephone: (0) 21 344000
Telefax: (0) 21 132592
Art.no 3HAC 0966-9 ArcWarePlus
CONTENTS
Page
ArcKill - Kill the AW process........................................................................................... 5

Syntax .......................................................................................................................... 6
Related information ..................................................................................................... 6
ArcRefresh - Refresh arcweld data.................................................................................. 7
Syntax .......................................................................................................................... 7
corrdescr - Correction generator descriptor .................................................................. 9
Description................................................................................................................... 9
Characteristics ............................................................................................................. 9
CorrCon - Connects to a correction generator............................................................... 11
Arguments ................................................................................................................... 11
CorrWrite - Writes to a correction generator ................................................................ 17
Arguments ................................................................................................................... 17
Limitations................................................................................................................... 17
Syntax .......................................................................................................................... 17
CorrRead - Reads the current total offsets..................................................................... 19
Syntax .......................................................................................................................... 19
CorrDiscon - Disconnects from a correction generator................................................. 21
Arguments ................................................................................................................... 21
Syntax .......................................................................................................................... 21
CorrClear - Removes all correction generators ............................................................. 23
Syntax .......................................................................................................................... 23
SpcWrite - Writes to a statistical process controller...................................................... 25
Arguments ................................................................................................................... 25
Syntax .......................................................................................................................... 26
spcstat - Statistical process control status ....................................................................... 27
Description................................................................................................................... 27
Predefined data ............................................................................................................ 27
SpcRead - Reads the current process status ................................................................... 29
ArcWarePlus 1
ArcWare Plus
Page
Arguments ................................................................................................................... 29
Syntax .......................................................................................................................... 30
SpcDump - Dump statistical process control information ............................................ 31
Arguments ................................................................................................................... 31
SpcDiscon - Disconnects from a statistical process controller ...................................... 35
Arguments ................................................................................................................... 35
Syntax .......................................................................................................................... 35
spcdescr - Statistical process controller descriptor........................................................ 37
Description .................................................................................................................. 37
spcdata - Statistical process control data ........................................................................ 39
Description .................................................................................................................. 39
SpcCon - Connects to a statistical process controller .................................................... 43
Arguments ................................................................................................................... 43
Index................................................................................................................................... 45
2 ArcWare Plus
ArcWare Plus ArcKill
ArcKill Kill the AW process
ArcKill is used in advanced error handlers to kill the AW process.
Example
PROC main()
WeldSeam1;
WeldSeam2;
ERROR
TPReadFk ans “The weld failed”, ““, ““, ““,”Service”,”OK”;
TEST ans
CASE 4:
service_routine;
TRYNEXT;
DEFAULT:
TRYNEXT
ENDTEST
ENDPROC
PROC WeldSeam1()
! Weld the seam

ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcL \Off, p2, v100, seam1, weld5, noweave, fine, gun1;
ERROR
TEST ERRNO
CASE AW_IGNI_ERR:
! Try to restart the process if this was an ignition error.
RETRY;
DEFAULT:
! Kill the aw process and raise the error to the main routine
ArcKill;
RAISE
ENDTEST
ENDPROC
ArcWare Plus 3
ArcKill ArcWare Plus
Syntax
ArcKill ‘;’
Related information
Described in:
Performing a circular weld Instructions - ArcC
Performing a linear weld Instructions - ArcL
4 ArcWare Plus
ArcWare Plus ArcRefresh
ArcRefresh Refresh arcweld data
ArcRefresh is used to tune aw process parameters during program execution.
Example
PROC PulseWeld()
! Setup a two Hz timer interrupt

CONNECT intno1 WITH TuneTrp;
ITimer ,0.5 ,intno1;
! Weld the seam

ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcL \Off, p2, v100, seam1, weld5, noweave, fine, gun1;
IDelete intno1;
ENDPROC
TRAP TuneTrp
! Modify the weld_voltage component of active welddata.
IF HighValueFlag =TRUE THEN

weld5.weld_voltage := 10;
HighValueFlag := FALSE;
ELSE
weld5.weld_voltage := 15;
HighValueFlag := TRUE;
ENDIF
! Order the process control to refresh process parameters

ArcRefresh;
ENDTRAP
The weld voltage will be switched between 10 and 15 volts

by the trap routine at a two Hz rate.
Syntax
ArcRefresh ‘;’
ArcWare Plus 5
ArcRefresh ArcWare Plus
Related information
Described in:
Performing a circular weld Instructions - ArcC
Performing a linear weld Instructions - ArcL
Definition of weld data Data Types - welddata
Definition of weave data Data Types - weavedata
Installation parameters for welding System Parameters - Arc Welding
equipment and welding functions
6 ArcWare Plus
ArcWare Plus corrdescr
corrdescr Correction generator descriptor
Corrdescr (Correction generator descriptor) is used by correction generators. A

correction generator adds geometric offsets in the path coordinate system.
Description
Data of the type corrdescr contains a reference to a correction generator.
Connection to a correction generator is done by the instruction CorrCon and the

descriptor (the reference to the correction generator) can be used to deliver geometric
offsets in the path coordinate system with the instruction CorrWrite.
Offsets provided earlier can be removed by disconnecting a correction generator with

the instruction CorrDiscon. All connected correction generators can be removed with
the instruction CorrClear.
The function CorrRead returns the sum of all the delivered offsets so far (includes all
connected correction generators).
Example
VAR corrdescr id;
VAR pos offset;
...
CorrCon id;
offset := [1, 2 ,3];
CorrWrite id, offset;
A correction generator is connected with the instruction CorrCon and referenced by

the descriptor id. Offsets are then delivered to the correction generator (with reference
id) using the instruction CorrWrite.
Characteristics
Corrdescr is a non-value data type.
ArcWare Plus 7
corrdescr ArcWare Plus
Related information
Described in:
Connects to a correction generator Instructions - CorrCon
Disconnects from a correction generator Instructions - CorrDiscon
Writes to a correction generator Instructions - CorrWrite
Reads the current total offsets Functions - CorrRead
Removes all correction generators Instructions - CorrClear
Characteristics of non-value data types Basic Characteristics - Data Types
8 ArcWare Plus
ArcWare Plus CorrCon
CorrCon Connects to a correction generator
CorrCon is used to connect to a correction generator.
Example
VAR corrdescr id;
...
CorrCon id;
The correction generator reference corresponds to the variable id reservation.
Arguments
CorrCon Descr
Descr Data type: corrdescr
Descriptor of the correction generator.
Example
Path coordinate system
All path corrections (offsets on the path) are added in the path coordinate system. The
path coordinate system is defined as:
P = Path coordinate system

T = Tool coordinate system
ZT XT
ZP
YT
XP
Tool
YP
Path direction ->
Figure 1 Path coordinate system.
ArcWare Plus 9
CorrCon ArcWare Plus
- Path coordinate axis X is given as the tangent of the path.

- Path coordinate axis Y is derived as the cross product of tool coordinate axis Z
and path coordinate axis X.
- Path coordinate axis Z is derived as the cross product of path coordinate axis X
and path coordinate axis Y.
Application example
An example of an application using path corrections is a robot holding a tool with two
sensors mounted on it to detect the vertical and horizontal distances to a work object.
Sensor for
horizontal correction.
ZP
Sensor for
vertical correction
Path coordinate system Tool
XP YP
Figure 2 Path correction device.
Program example
CONST num TARGET_DIST := 5;

CONST num SCALE_FACTOR := 0.5;
VAR intnum intno1;
VAR corrdesc hori_id:
VAR corrdesc vert_id;
VAR pos total_offset;
VAR signalai hori_sig;
VAR signalai vert_sig;
VAR pos write_offset;
PROC PathRoutine()
! Connect to the correction generators for horizontal and vertical correction.

CorrCon hori_id;
CorrCon vert_id;
! Setup a 5 Hz timer interrupt. The trap routine will read the sensor values and
! compute the path corrections.
CONNECT intno1 WITH ReadSensors;
ITimer\singel 0.2, intno1
10 ArcWare Plus
! Position for start of contour tracking

MoveJ p10,v100,z10,tool1;
! Run MoveL with both vertical and horizontel correction.

MoveL p20,v100,z10,tool1\Corr;
! Read the total corrections added by all connected correction generators.
total_offset := CorrRead();
! Write the total vertical correction on the TeachPendant.
TPWrite “The total vertical correction is: ”\Num:=total_offset.z;
! Disconnect the correction generator for vertical correction.
! Horizontal corrections will be unaffected.
CorrDiscon vert_id;
! Run MoveL with only horizontel correction.
MoveL p30,v100,z10,tool1\Corr;
! Remove all outstanding connected correction generators.

! In this case, the only connected correction generator is the one for horizontal
! correction.
CorrClear;
! Remove the timer interrupt.

IDelete intno1;
ENDPROC
TRAP ReadSensors
! Compute the horizontal correction values and execute the correction.

write_offset.x := 0;
write_offset.y := (hori_sig - TARGET_DIST)*SCALE_FACTOR;
write_offset.z := 0;
CorrWrite hori_id, write_offset;
! Compute the vertical correction values and execute the correction.

write_offset.x := 0;
write_offset.y := 0;
write_offset.z := (vert_sig - TARGET_DIST)*SCALE_FACTOR;
CorrWrite vert_id, write_offset;
!Setup interupt again

IDelete intnol;
CONNECT intno1 WITH ReadSensors;
ITimer\singel 0.2, intno1;
ENDTRAP
Program explanation
Two correction generators are connected with the instruction CorrCon. Each
correction generator is referenced by a unique descriptor (hori_id and vert_id) of the
type corrdesc. The two sensors will use one correction generator each.
A timer interrupt is set up to call the trap routine ReadSensors with a frequency of 5
ArcWare Plus 11
Hz. The offsets, needed for path correction, are computed in the trap routine and written
to the corresponding correction generator (referenced by the descriptors hori_id and
vert_id) by the instruction CorrWrite. All the corrections will have immediate effect on
the path.
The MoveL instruction must be programmed with the switch argument Corr when path
corrections are used. Otherwise, no corrections will be executed.
When the first MoveL instruction is ready, the function CorrRead is used to read the
sum of all the corrections (the total path correction) given by all the connected
correction generators. The result of the total vertical path correction is written to the
TeachPendant with the instruction TPWrite.
CorrDiscon will then disconnect the correction generator for vertical correction
(referenced by the descriptor vert_id). All corrections added by this correction
generator will be removed from the total path correction. The corrections added by the
correction generator for horizontal correction will still be preserved.
Finally, the function CorrClear will remove all outstanding connected correction
generators and their previously added corrections. In this case, it is only the correction
generator for horizontal correction that will be removed. The timer interrupt will also
be removed by the instruction IDelete.
The correction generators
x y z Path coordinate axis.
0 0 3 Vertical correction generator, with the sum of all its own path corrections.
0 1 0 Horizontal correction generator, with the sum of all its own path corrections.
- - - Not connected correction generator.
0 1 3 The sum of all corrections done by all connected correction generators.
Figure 3 Correction generators.
Limitations
A maximum number of 5 correction generators can be connected simultaneously.
Syntax
CorrCon
12 ArcWare Plus
[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’;’
Related information
Described in:
Correction generator descriptor Data types - corrdescr
ArcWare Plus 13
14 ArcWare Plus
ArcWare Plus CorrWrite
CorrWrite Writes to a correction generator
CorrWrite is used to write offsets in the path coordinate system to a correction

generator.
Example
VAR corrdescr id;
VAR pos offset;
...
CorrWrite id, offset;
The current offsets, stored in the variable offset, are written to the correction generator
referenced by the descriptor id.
Arguments
CorrWrite Descr Data
Data Data type: pos
The offset to be written.
Example
See Instructions - CorrCon
Limitations
The best performance is achieved on straight paths. As the speed and angles between
to consecutive linear paths increase, the deviation from the expected path will also
increase. The same applies to circles with decreasing circle radius.
Syntax
CorrWrite
ArcWare Plus 15
CorrWrite ArcWare Plus
[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’,’

[ Data ’:=’ ] < expression (IN) of pos > ’;’
Related information
Described in:
Correction generator descriptor Data types - corrdescr
16 ArcWare Plus
ArcWare Plus CorrRead
CorrRead Reads the current total offsets
CorrRead is used to read the total corrections delivered by all connected correction
generators.
CorrRead can be used to:
- find out how much the current path differs from the original path.
- take actions to reduce the difference.
Example
VAR pos offset;
...
offset := CorrRead();
The current offsets delivered by all connected correction generators are available in the
variable offset.
Return value Data type: pos
The total absolute offsets delivered from all connected correction generators so far.
Example
Syntax
CorrRead ’(’ ’)’
A function with a return value of the data type pos.
ArcWare Plus 17
CorrRead ArcWare Plus
Related information
Described in:
Correction descriptor Data types - corrdescr
18 ArcWare Plus
ArcWare Plus CorrDiscon
CorrDiscon Disconnects from a correction

generator
CorrDiscon is used to disconnect from a previously connected correction generator.

The instruction can be used to remove corrections given earlier.
Example
VAR corrdescr id;
...
CorrCon id;
...
CorrDiscon id;
CorrDiscon disconnects from the previously connected correction generator

referenced by the descriptor id.
Arguments
CorrDiscon Descr
Example
Syntax
CorrDiscon
[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’;’
ArcWare Plus 19
CorrDiscon ArcWare Plus
Related information
Described in:
20 ArcWare Plus
ArcWare Plus CorrClear
CorrClear Removes all correction generators
CorrClear is used to remove all connected correction generators. The instruction can
be used to remove all offsets provided earlier by all correction generators.
Example
CorrClear;
The instruction removes all connected correction generators.
Note! An easy way to ensure that all correction generators (with corrections) are
removed at program start, is to run CorrClear in a START event routine. See System
Parameters - Topic: Controller.
Syntax
CorrClear ‘;’
Related information
Described in:
ArcWare Plus 21
CorrClear ArcWare Plus
22 ArcWare Plus
ArcWare Plus SpcWrite
SpcWrite Writes to a
statistical process controller
SpcWrite provides the statistical process controller with parameter sample values.
Example
VAR spcdescr id;
VAR spcstat status;
VAR num value;
...
GetProcVal value;
SpcWrite id, value, status;
A parameter sample value (variable value) is written to the statistical process

controller. The variable value represents the current measured process value and is
received from the user-defined procedure GetProcVal in the example above.
Arguments
SpcWrite Descr Value Status

Descr Data type: spcdescr
The descriptor of the connected SPC entry.
Value Data type: num
The parameter value.
Status Data type: spcstat
Status of the write operation.
Example
VAR spcdescr id;
VAR spcstat status;
VAR num value;
...
SpcCon id, status\GrpSize:=3\Teach:=2;
SpcWrite id, value, status;
The statistical process controller is allocating one entry with SpcCon and is then
delivering the parameter value within the variable value to the same entry in SpcWrite.
ArcWare Plus 23
SpcWrite ArcWare Plus
The instruction SpcWrite is returning the status of the statistical process in the variable
status. The value can be evaluated and proper actions taken.
The major functions of SpcWrite are:
- The instruction must be used at the beginning of the parameter measurement to

provide the statistical process controller with values for calculation of supervi-
sion limits. The example shows that SpcWrite must be used 6 times before the
actual supervision starts (2 subgroups with 3 samples in each subgroup).
- When the supervision limits are calculated, SpcWrite provides the statistical
process controller with samples dedicated for supervision. The example shows
that each subgroup of 3 samples will be evaluated (the supervision limits must
not be exceeded).
Syntax
SpcWrite
[ Descr ’:=’ ] < variable (VAR) of spcdescr > ’,’
[ Value ’:=’ ] < expression (VAR) of num > ’,’
[ Status’:=’ ] < var or pers (INOUT) of spcstat > ’;’
Related information
Described in:
Connects to a statistical process controller Instructions - SpcCon
Disconnects from a statistical process Instructions - SpcDiscon
controller
Reads the current process status Instructions - SpcRead
Dumps the process information on a file or Instructions - SpcDump
a serial channel
Statistical process control data Data types - spcdata
Statistical process control descriptor Data types - spcdescr
Statistical process control status Data types - spcstat
24 ArcWare Plus
ArcWare Plus spcstat
spcstat Statistical process control status
Spcstat (Statistical process control status) is used to describe the status of a parameter
in a supervised process.
Description
Data of the type spcstat is used in the instructions SpcCon and SpcWrite. When these
instructions are executed, spcstat will be assigned different values depending on the
status. The values can be used for evaluation and depending on the result, proper
actions can be taken.
Example
VAR spcdescr id;
VAR spcstat status;
VAR num value;
...
CorrCon id, status;
CorrWrite id, value, status;
IF status = VALUE_OK THEN
! Continue program
...
ENDIF
The instruction SpcWrite returns the statistical process status in the variable status. The
value is evaluated and proper actions are taken.
Predefined data
Data of the type spcstat are assigned different predefined values in the instructions
SpcCon and SpcWrite. The values are:
Name Explanation
VALUE_OK The current subgroup in not finished.

Returned by SpcWrite.
GROUP_OK The current subgroup is finished.

OUT_OF_CONTROL The latest subgroup is out of control (the

supervision limits have been exceeded).
ArcWare Plus 25
spcstat ArcWare Plus
BAD_OLD_GROUPS One ore more subgroups are out of control during

supervision data calculation.
CHART_TOO_SHORT The number of subgroups set up for supervision

data calculation exceeds the control chart size.
Returned by procedure SpcCon.
GRP_TOO_SMALL The number of values in each subgroup is too few

for supervision data calculation.
GRP_TOO_LARGE The number of values in each subgroup is too

many for supervision data calculation.
Characteristics
Spcstat is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
controller
Writes to a statistical process controller Instructions - SpcWrite
a serial channel
Statistical process controller descriptor Data types - spcdescr
Data types in general, alias data types Basic Characteristics - Data Types
26 ArcWare Plus
ArcWare Plus SpcRead
SpcRead Reads the current process status
SpcRead is used to read some essential SPC information, such as mean values and
limits for subgroup average values and standard deviations.
Example
VAR spcdescr id;
VAR spcdata info;
...
CorrRead id info;
The current process information is available in the variable info;
Arguments
SpcRead Descr Data

Data Data type: spcdata
SPC information.
Example
VAR spcdescr id;
VAR spcstat status;
VAR spcdata info;
SpcCon id, status\Header:=”voltage”;
SpcRead id, info;
IF info.ok = TRUE THEN
! Continue execution
...
ENDIF
Process information includes:
- mean values and limits for subgroup average values and standard deviations.
- information whether the latest measured subgroup has exceeded the limits or
not.
ArcWare Plus 27
SpcRead ArcWare Plus
In the example, variable info is used to check whether both the latest subgroup average
value and standard deviation are within the limits.
Syntax
SpcRead
[ Data ’:=’ ] < variable (VAR) of spcdata > ’;’
Related information
Described in:
controller
a serial channel
28 ArcWare Plus
ArcWare Plus SpcDump
SpcDump Dump statistical process control

information
SpcDump is used to dump statistical process control information on a file or a serial

channel.
Example
VAR spcdescr id;
...
SpcDump id, "flp1:spc.file", "Parameter voltage";
SpcDump will dump the statistical process control information on the file spc.file on
flp1.
Arguments
SpcDump Descr SpcFile Header

SpcFile Data type: string
The name and path of the file or serial channel where the statistical process control
information should be dumped.
Header Data type: string
The header of the dump (a text that can mark up a specific dump).
Example
VAR spcdescr id;
VAR spcstat status;
SpcCon id, status\GrpSize:=3\Teach:=2\Header:="voltage";
SpcDump id, "flp1:spc.file", "Parameter voltage";
The statistical process controller is allocating one entry with SpcCon and is then
dumping the information on the file "flp1:spc.file" to the same entry in SpcDump.
It is possible to add a header in the file, in this case "Parameter voltage".
ArcWare Plus 29
SpcDump ArcWare Plus
Statistical process control information includes:
- Subgroup size.
- Mean values for subgroup average values and standard deviations.
- Supervision limits for the subgroup average values and standard deviations
(the +/-3 sigma limit and the +/-1.5 sigma limit if it is activated).
- At the most, the 100 latest charted subgroup values.
- Values that have exceeded the limits among the latest 100 charted subgroup val-
ues.
Dump file example:
spcobj1 spc_info /* Process name and chart name */

2 /* Subgroup size */
60 /* Chart length (num. of subgroup samples, max. 100 latest) */
1 /* Strict rule (+/-1.5 sigma), 0 = not active, 1 = active */
0 /* Assymetric limits, 0 = not active, 1 = active */
1.014 /* Average mean value */

0.00989746 /* Average standard deviation */
1.040314 /* Upper mean value limit */

0.987686 /* Lower mean value limit */
0.0323292 /* Upper standard dev. limit */
0 /* Lower standard dev. limit */
1.027157 /* IF STRICT RULE... Upper mean value strict limit */
1.00084317 /* Lower mean value strict limit */
0.0211133 /* Upper standard dev. strict limit */
0 /* Lower standard dev. strict limit ...ENDIF STRICT RULE */
1.015 /* START Subgroup mean values...

...
1.01 /* ...END Subgroup mean values */
0 /* START Subgroup mean values out of control... */

...
0 /* ...END Subgroup mean values out of control */
0.00706857 /* START Subgroup standard dev... */

...
0.0141445 /* ...END Subgroup standard dev. */
0 /* START Subgroup standard dev. out of control... */

...
0 /* ...END Subgroup standard dev. out of control */
Figure 4 SPC dump file.
30 ArcWare Plus
ArcWare Plus SpcDump
Syntax
SpcDump
[ SpcFile ’:=’ ] < expression (IN) of string > ’,’
[ Header ’:=’ ] < expression (IN) of string > ’;’
Related information
Described in:
controller
ArcWare Plus 31
SpcDump ArcWare Plus
32 ArcWare Plus
ArcWare Plus SpcDiscon
SpcDiscon Disconnects from a

SpcDiscon is used to deallocate a previously allocated SPC entry.
Example
VAR spcdescr id;
...
SpcDiscon id;
The instruction deallocates the SPC entry id.
Arguments
SpcDiscon Descr
The name descriptor of the connected SPC entry.
Example
VAR spcdescr id;
VAR spcstat status;
...
SpcCon id, status\Header:="voltage";
...
SpcDiscon id;
The statistical process controller is allocating one entry named "voltage" and returns
the descriptor id. For deallocation of the SPC entry the same descriptor is used in
SpcDiscon.
Syntax
SpcDiscon
[ Descr ’:=’ ] < variable (VAR) of spcdescr > ’;’
ArcWare Plus 33
SpcDiscon ArcWare Plus
Related information
Described in:
Dumps the process information on a file Instructions - SpcDump
or a serial channel
34 ArcWare Plus
ArcWare Plus spcdescr
spcdescr Statistical process controller descriptor
Spcdescr (Statistical process controller descriptor) is a descriptor to an entry for sta-

tistical process control of an arbitrary parameter.
Description
Data of the type spcdescr contains a reference to an SPC entry.
An entry is allocated by the instruction SpcCon and deallocated by the instruction

SpcDiscon.
Other instructions using spcdescr are:
- SpcWrite, measured parameter values are written to the statistical process con-
troller.
- SpcRead, process status will be received.
- SpcDump, process status and control chart will be written to a file or a serial
channel.
Example
VAR spcdescr id;
VAR spcstat status;
VAR num value;
...
CorrCon id, status;
CorrWrite id, value, status;
...
The statistical process controller is reserving one entry and is then delivering the
measured parameter value within the variable value to the same entry.
Characteristics
Spcdescr is a non-value data type.
ArcWare Plus 35
spcdescr ArcWare Plus
Related information
Described in:
controller
a serial channel
Characteristics of non-value data types Basic Characteristics - Data Types
36 ArcWare Plus
ArcWare Plus spcdata
spcdata Statistical process control data
Spcdata (Statistical Process Control Data) describes the mean values and limits for the
statistical process controller. It also informs whether the latest measured subgroup has
exceeded the limits or not.
Description
The statistical process controller detects lack of control through the use of a control
chart. The control chart is made up of two plots, showing the average values within
consecutive subgroups, and standard deviation within the subgroups, respectively. A
subgroup is a collection of measurement values for an arbitrary parameter, the number
of which is defined by the instruction SpcCon.
Before the parameter supervision starts, some limits must be calculated. The calcula-
tion is based on subgroups (the number is defined by the instruction SpcCon) that are
registered before the start of supervision.
For each control chart a corresponding mean value is calculated, one of the subgroup
average values and one of the subgroup standard deviations.
When the supervision starts both the subgroup average values and standard deviations
are supervised. For the subgroup average values, the following conditions must be met
for lack of control to be indicated:
- One subgroup average value exceeds the +/-3 sigma (standard deviation) limit
around the mean value of the subgroup average values.
- Two consecutive subgroup average values exceed the +/-1.5 sigma (standard
deviation) limit around the subgroup average values.
Corresponding limits are computed for the standard deviation.
Subgroup Subgroup
Error detected
average value standard deviation
ucl_value x ucl_sigma
x x x s
mean_value x mean_sigma s s s
x x s s s
lcl_value lcl_sigma
Subgroup sample Subgroup sample
Figure 5 Control chart for average value and standard deviation.
ArcWare Plus 37
spcdata ArcWare Plus
Components
mean_value Data type: num
Mean value of the subgroup average values.
mean_sigma Data type: num
Mean value of the subgroup standard deviations.
ucl_value Data type: num
Upper control limit for a subgroup average value (+3 sigma).
lcl_value Data type: num
Lower control limit for a subgroup average value (-3 sigma).
ucl_sigma Data type: num
Upper control limit for a subgroup standard deviation (+3 sigma).
lcl_sigma Data type: num
Lower control limit for a subgroup standard deviation (-3 sigma).
mean_value_ok Data type: bool
Verifies that the latest measured subgroup average value is within the allowed
limits.
mean_sigma_ok Data type: bool
Verifies that the latest measured subgroup standard deviation is within the
allowed limits.
ok Data type: bool
Both mean_value_ok and mean_sigma_ok are OK.
Example
VAR spcdescr id;
VAR spcstat status;
VAR spcdata data;
CorrCon spcid, status;
CorrRead spcid, data;
IF data.ok = TRUE THEN
! Continue program
...
ENDIF
38 ArcWare Plus
ArcWare Plus spcdata
The instruction CorrRead returns the statistical process data in the variable data. The
values are evaluated and proper actions are taken.
Structure
<data object of spcdata>
<mean_value of num>
<mean_sigma of num>
<ucl_value of num>
<lcl_value of num>
<ucl_sigma of num>
<lcl_sigma of num>
<mean_value_ok of bool>
<mean_sigma_ok of bool>
<ok of bool>
Related information
Described in:
controller
a serial channel
Statistical process controller descriptor Data types - spcdescr
ArcWare Plus 39
spcdata ArcWare Plus
40 ArcWare Plus
ArcWare Plus SpcCon
SpcCon Connects to a
SpcCon is used to allocate an SPC entry before starting supervision limit calculation
and process supervision.
Example
VAR spcdescr id;
VAR spcstat status;
...
SpcCon id, status\Header:="voltage";
The statistical process controller is allocating one entry named "voltage" and returns a
descriptor for this entry (parameter id). The descriptor is then used by other SPC
instructions to operate on the entry. SpcCon will also return the status of the connection
operation in the variable status.
Arguments
SpcCon Descr Status [\GrpSize ] [\Teach ] [\Strict ] [\Header ]

[\BackupFile ]
Status Data type: spcstat
Status of the connection operation.
[\GrpSize ] Data type: num
The number of parameter samples in each subgroup (min = 1, max = 100,

default = 1).
[\Teach ] Data type: num
The number of subgroups that must be collected before the calculation of the
supervision limits occur and the process supervision starts (default = 50).
[\Strict ] Data type: switch
Normally the statistical process controller indicates an error if one subgroup

average value exceeds the +/-3 sigma (standard deviation) limit.
If strict is activated the statistical process controller will also indicate an error when two
ArcWare Plus 41
SpcCon ArcWare Plus
consecutive subgroup average values exceed the +/-1.5 sigma limit.
[\Header ] Data type: string
The name (identifier) of the connected SPC entry.
[\BackupFile ] Data type: string
The backup file contains the supervision limits. If the backup file defined in the
instruction does not exist, new limits will be calculated and stored in the file. If the
backup file does exist, the limits stored in the file will be used and the supervision
limit calculation will be omitted.
Example
VAR spcdescr id;
VAR spcstat status;
...
SpcCon id, status\GrpSize:=3\Teach:=2\Strict\Header:="voltage";
...
Parameter value
Subgroup
upper limit
x
x
x x
Subgroup
x x
mean value
Subgroup
lower limit Sample
Subgroup 1 Subgroup 2
Figure 6 Statistical process control chart.
Before the parameter supervision starts, some limits must be calculated. The calcula-
tion is based on subgroups of parameter samples, where the number of samples in each
subgroup is 3 (defined by GrpSize) and the number of subgroups is 2 (defined by
Teach).
The calculation will emerge in the forced limit +/-3 sigma. If the switch argument Strict
is active, the optional limit +/-1.5 sigma will be included in the parameter supervision.
Syntax
SpcCon
[ Status ’:=’ ] < var or pers (INOUT) of spcstat >
[ ’\’ GrpSize ’:=’ < expression (IN) of num > ]
[ ’\’ Teach ’:=’ < expression (IN) of num > ]
42 ArcWare Plus
ArcWare Plus SpcCon
[ ’\’ Strict ]
[ ’\’ Header ’:=’ < expression (IN) of string > ] ’;’
[ ’\’ BackupFile ’:=’ < expression (IN) of string > ] ’;’
Related information
Described in:
controller
a serial channel
ArcWare Plus 43
SpcCon ArcWare Plus
44 ArcWare Plus
Index
ArcKill 7
ArcRefresh 9
CorrClear 25
CorrCon 13
corrdescr 11
CorrDiscon 23
CorrRead 21
CorrWrite 19
SpotWare Plus 45
Index
46 SpotWare Plus Manual

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ProcessWare

ArcWare Plus On-line

ABB Flexible Automation

ArcKill - Kill the AW process........................................................................................... 5

ArcKill Kill the AW process

ArcKill is used in advanced error handlers to kill the AW process.

! Weld the seam

ArcRefresh Refresh arcweld data

ArcRefresh is used to tune aw process parameters during program execution.

! Setup a two Hz timer interrupt

! Weld the seam

! Modify the weld_voltage component of active welddata.

IF HighValueFlag =TRUE THEN

! Order the process control to refresh process parameters

The weld voltage will be switched between 10 and 15 volts

corrdescr Correction generator descriptor

Corrdescr (Correction generator descriptor) is used by correction generators. A

Connection to a correction generator is done by the instruction CorrCon and the

Offsets provided earlier can be removed by disconnecting a correction generator with

A correction generator is connected with the instruction CorrCon and referenced by

CorrCon Connects to a correction generator

CorrCon is used to connect to a correction generator.

The correction generator reference corresponds to the variable id reservation.

Descriptor of the correction generator.

P = Path coordinate system

Path direction ->

Figure 1 Path coordinate system.

- Path coordinate axis X is given as the tangent of the path.

Path coordinate system Tool

Figure 2 Path correction device.

CONST num TARGET_DIST := 5;

! Connect to the correction generators for horizontal and vertical correction.

! Position for start of contour tracking

! Run MoveL with both vertical and horizontel correction.

! Remove all outstanding connected correction generators.

! Remove the timer interrupt.

! Compute the horizontal correction values and execute the correction.

! Compute the vertical correction values and execute the correction.

!Setup interupt again

The correction generators

x y z Path coordinate axis.

- - - Not connected correction generator.

- - - Not connected correction generator.

- - - Not connected correction generator.

0 1 3 The sum of all corrections done by all connected correction generators.

Figure 3 Correction generators.

[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’;’

CorrWrite Writes to a correction generator

CorrWrite is used to write offsets in the path coordinate system to a correction

Descriptor of the correction generator.

Data Data type: pos

The offset to be written.

[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’,’

CorrRead Reads the current total offsets

CorrRead can be used to:

- take actions to reduce the difference.

Return value Data type: pos

A function with a return value of the data type pos.

CorrDiscon Disconnects from a correction

CorrDiscon is used to disconnect from a previously connected correction generator.

CorrDiscon disconnects from the previously connected correction generator

Descriptor of the correction generator.

CorrClear Removes all correction generators