YASKAWA YRC1000 Operator's Manual page 164

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
For the pattern 2 shown in fig. 1-4Pattern 2 (Applying Pressure Upwards),
the weight of the motor gun itself may cause deviation of pressure.
Using the gun pressure compensation function, by setting one pressure
compensation value (see fig. 1-7), the motor torque of the motor gun is
calculated using the pressure-to-torque conversion value of pattern 1 and
the inclination of the Z-axis + on the tool coordinates at welding so that the
pressure can be kept stable even when the motor gun posture changes.
(See fig. 1-8.)
Fig. 1-7: Pressure Compensation (For Pattern 2)
compensation value
Toque
(%)
Fig. 1-8: Motor Gun Posture
Z-axis + direction
on the tool coordinates
Upper tip
Inclination
on the tool coordinates
Lower tip
Pressure
Measured values
of Z-axis +
1-154
Pattern 2
Pattern 1
Pressure (kgf)
Inclination
on the tool coordinates
Z-axis + direction
on the tool coordinates
of Z-axis +
164 of 198