Overview - YASKAWA YRC1000 Operator's Manual

1.13.5.2 Overview

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
The following describes outline of the gun pressure compensation
function.
The pattern 1 is shown in the fig. 1-3; applying pressure downwards, and
the pattern 2 is shown in the fig. 1-4; applying pressure upwards.
In case of the pattern1, since the pairs of pressure and torque data (twelve
pairs at maximum) is set with the gun pressurizing downwards (see
fig. 1-6Pressure-to-torque Conversion (For Pattern 1)) in the GUN
CONDITION file, the torque of the motor gun for the specified pressure is
calculated just by interpolation of these pairs of data.
Fig. 1-3: Pattern 1 (Applying Pressure Downwards)
Fig. 1-4: Pattern 2 (Applying Pressure Upwards)
1-152
Z-axis + direction
on the tool coordinates
Z-axis + direction
on the tool coordinates
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