YASKAWA YRC1000 Operator's Manual page 18

1 Spot Welding Application Using an Air Gun
1.3 Teaching
Operation Procedure

1. Move the cursor to the line before the place where the GUNCL
instruction is to be registered.
2. Press [2/GUN CLOSE] or [INSTRUCTION LIST].
3. Select the {GUNCL} instruction.
– When [2/GUN CLOSE] is pressed, the "GUNCL" instruction appears
in the input buffer line.
– When [INSTRUCTION LIST] is pressed, the instruction list dialog
appears. Select "GUNCL" from the list.
4. Move the cursor to the address area.
5. Add items and modify the number data.
6. Press [ADD], then press [ENTER].
– The GUNCL instruction is registered.
 Example
The gun pressure signal is turned ON 0.5 seconds before the manipulator
reaches the step 5 position and then turns OFF after 2 seconds (1.5
seconds after reaching there) and moves to the execution of step 6.
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