Compensation Of Gun Arm Bend For C-Gun And X-Gun (Single Arm Move); Setting The Gun Arm Bend Compensation Coefficient - YASKAWA YRC1000 Operator's Manual

1.13.6 Compensation of Gun Arm Bend for C-Gun and X-Gun (SINGLE ARM MOVE)

1.13.6.1 Setting the Gun Arm Bend Compensation Coefficient

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
The gun arm bend at pressurizing can be compensated by the corrective
manipulator motion.
Compensation motion in the
tool Z+ direction for (K × F ÷ 1000) mm
Specify each compensation value (X, Y, Z directions of the tool
coordinate) for the gun arm bend with the pressure of 1000N.
When K is defined as the gun arm bend compensation coefficient (mm/
1000N) and F is the gun pressure (N), the robot position is corrected in
each coordinate direction of the tool for (K × F ÷ 1000) mm in
synchronization with gun pressure.
1. Select {SPOT WELDING} on the {Main Menu}.
2. Select {GUN CONDITION}.
– GUN CONDITION window appears.
3. Select a gun No. by pressing [PAGE].
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