YASKAWA YRC1000 Operator's Manual page 153

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
<Example of Removing a Gun>
Job name: GUN 1 PLACE
Control group: R1
NOP
MOVJ VJ=30
WAIT IN#(3)=ON
WAIT IN#(4)=OFF
DOUT OT#(2)=ON
WAIT IN#(5)=ON
:
MOVL V=500
MOVL V=100 PL=0
WAIT IN#(4)=ON
GUNCHG GUN#(1) PLACE
TIMER T=0.2
DOUT OT#(1)=ON
WAIT IN#(2)=ON
MOVL V=1000
:
WAIT IN#(4)=ON
DOUT OT#(2)=OFF
WAIT IN#(6)=ON
:
MOVJ VJ=30
END
Be sure to confirm the
NOTE
automatic tool changer to the chuck position.
1-143
Moves to the standby position.
Confirms ATC coupling.
Confirms Gun 1 absence.
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 Gun 1 placing position.
Confirms Gun 1 presence.
Turns OFF gun motor power.
Waits for 0.2 seconds.
ATC unchucking
Confirms ATC unchucking
Disconnects the gun.
Confirms Gun 1 presence.
Closes Gun 1 cover.
Confirms Gun 1 cover closed.
Moves to the standby position.
status when moving an
unchucking
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