YASKAWA YRC1000 Operator's Manual page 21

1 Spot Welding Application Using an Air Gun
1.3 Teaching
Examples

The sequence of the SPOT instruction is started from the short open 0.5
seconds before the manipulator reaches the position of step 5. After
completion of the sequence, the status becomes full open to move to the
execution of step 6.
If the manipulator starts moving before the gun opens when gun open
status is not verified, adjust the timing with the TIMER instruction as
shown below.
Do not use the "ATT" unless it is indispensable. As the gun
will be closed during the robot move operation by the use of
NOTE
ATT, the robot might possibly move with its gun closed.
Set the ATT value after setting the ATT minimum value
(0.01 seconds) and execute a confirmatory operation.
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