Wear Compensation - YASKAWA YRC1000 Operator's Manual

1.12.4 Wear Compensation

Movable side tip
Workpiece
Fixed side tip
1 Spot Welding Application Using a Motor Gun
1.12 Tip Wear Detection and Wear Compensation (Motor Gun)
The manipulator motion and the gun stroke are adjusted according to the
amount of tip wear.
Wear compensation is performed to the following positions.
– To the teaching position short before SVSPOT instruction
– To the teaching position short before SVGUNCL instruction to which
WP tag or DRS tag is used.
– SVSPOTMOV teaching position
– SVDRESMOV teaching position
The figure below shows an example of the compensation under the
following conditions.
Single arm gun, Movable side wear amount: 3 mm, Fixed side wear
amount: 5 mm
3 mm
5 mm
Compensate the fixed side tip
5mm in the Z-axis+ direction
on the user coordinates.
<Job Example>
MOVJ
MOVJ ← In this position, wear compensation is done.
SVSPOT GUN#(1) PRESS#(1) WTM=1 WST=1
MOVJ
MOVJ
The fixed side tip is always shifted in the Z-axis + direction
on the tool coordinates. Therefore, be sure to register the
NOTE
tool position and direction correctly. (Refer to
chapter 1.4.3
1-121
Compensate the gun strok for
8 (=5+3) mm.
"Registering the Operation Tool".)
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