Compensation Example - YASKAWA YRC1000 Operator's Manual

1.13.6.2 Compensation Example

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
4. Select "GUN ARM BEND DOEF."
– GUN ARM BEND DOEF.
Set the compensation amount for gun arm bend per 1000N
pressure.
5. Enter a numerical value, and press [ENTER].
If "0" is entered, the gun arm bend compensation function
NOTE
will not be effective.
The gun arm bend compensation operation is done by the
robot when following instructions are executed.
• SVSPOT instruction
• SVGUNCL instruction to which DRS tag is added.
• SVSPOTMOV instruction
NOTE
• SVDRESMOV instruction
In case the robot is not included in the job control group, the
gun arm bend compensation will not be executed.
<Example>
R1+S1 : Gun arm bend compensation is executed
S1R1+ : Gun arm bend compensation is unexecuted
When 2.0 (mm/1000N) is specified for the gun arm bend compensation
coefficient:
Gun Pressure (N)
0
1000
2000
3000
1-158
Gun Arm Bend Compensation
Amount (mm)
0.0
2.0
4.0
6.0
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