ABB FlexPLP IRPLP 220 Product Manual page 109

Shim Data Settings
Configuring the shim offsets as the solution for improving the precision when
combining PLP robot and car body. Shim offset values are defined by user on HMI,
which are on x, y, and z directions. The background program enables the PLP
robot moving to a suitable position with configured offset values automatically.
The function of Shim Data Setting is shown in the figure.
xx1800003154
The value of PLP General Shim Value and PLP Weight Shim Value constitute the
Total Shim Value.
A
B
C
D
E
Product manual - FlexPLP IRPLP 220
3HAW050041018-001 Revision: C
Name Function Description
Switch The switches indicate the status of PLP shim data.
The total offset value is the sum of general shim value and the weight shim
value.
• If the switch turns red, and displays 0, the shim data of this switch will
not be added into the total shim value.
• If the switch turns green, and displays 1, the shim data of this switch
will be effective.
Read Read function is used to read offset value from current controller system.
Write Write function is used to record the active offset values that user set on GUI
through the current controller system.
Logs Logs function is used to check the record of shim data values which helps
user tracking the change history.
Debug Debug function is used to verify the shim offset value. This function ensures
the selected PLP robot moving from current position to the set position.
Note
The limitation of shim offset value on x,y, and z is from -10 mm to 10 mm (only
one decimal allowed). Both PLP General Shim Value and PLP Weight Shim
Value are within this limitation.
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6 FlexPLP addin application GUI
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6.2.2 Shim Offset
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