YASKAWA YRC1000 Operator's Manual page 23

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 STROKE
instruction is to be registered.
2. Press [-/SHORT OPEN], [3/FULL OPEN], or [INSTRUCTION LIST].
– The "STROKE GUN#(1) SHORT" instruction appears in the input
buffer line when [-/SHORT OPEN] is pressed; the "STROKE
GUN#(1) LONG" instruction appears in the input buffer line when the
key [3/FULL OPEN] is pressed.
– When [INSTRUCTION LIST] is pressed, the instruction list dialog
appears. Select {STROKE} from the list.
3. Add items and modify the number data.
4. Press [ADD], then press [ENTER].
– The STROKE instruction is registered.
Example

Stroke is fully opened in order to avoid interference when the manipulator
reaches the position of step 5. Then the manipulator moves to step 6 to
avoid interference.
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