Gun Change Job - YASKAWA YRC1000 Operator's Manual

1.13.2.3

Gun Change Job

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
The following example explains the gun change job.
<Example of I/O Allocation>
Input Signal
Gun Chuck
Gun Unchuck
Coupling confirmation
Gun 1 presence LS
Gun 1 cover open limit
Gun 1 cover close limit
Gun ID No. signal (start)
Gun ID No. signal (end)
<Example of Mounting a Gun>
Job name: GUN 1 PICK
Control group: R1
NOP
MOVJ VJ=30
WAIT IN#(3)=OFF
WAIT IN#(2)=ON
WAIT IN#(4)=ON
DOUT OT#(2)=ON
WAIT IN#(5)=ON
:
MOVL V=500
MOVL V=100 PL=0
WAIT IN#(3)=ON
DOUT OT#(1)=OFF
WAIT IN#(1)=ON
GUNCHG GUN#(1) PICK
TIMER T=0.2
MOVL V=1000
:
WAIT IN#(4)=OFF
DOUT OT#(2)=OFF
WAIT IN#(6)=ON
:
MOVJ VJ=30
END
1-142
Output Signal
IN1 Gun connect/disconnect SOL OUT1
IN2 Gun 1 cover open/close SOL OUT2
IN3
IN4
IN5
IN6
IN21
IN23
Moves to the standby position.
Confirms ATC uncoupling.
Confirms ATC unchucking
Confirms Gun 1 presence.
Opens Gun 1 cover.
Confirms Gun 1 cover opened.
Moves to the position which is just above the
Gun 1's placing table.
Moves to the ATC coupling position.
Confirms ATC coupling.
ATC chucking
Confirms ATC chucking.
Turns ON the gun motor power.
Waits for 0.2 seconds.
Lifts the Gun 1.
Confirms Gun 1 absence.
Closes Gun 1 cover.
Confirms Gun 1 cover closed.
Moves to the standby position.
152 of 198