Registering The Operation Tool; When Using A Single Arm Move Gun - YASKAWA YRC1000 Operator's Manual

1.4.3 Registering the Operation Tool

1.4.3.1 When Using a Single Arm Move Gun

1 Spot Welding Application Using a Motor Gun
1.4 System Setting (Motor Gun)
The registration method of operation tool differs depending on whether it
is a single arm move gun or a double arm move gun.
Considering the following cases, refer to "YRC1000 INSTRUCTIONS
(RE-CTO-A221) 8.3 Tool Data Setting" for the tool coordinate value and
tool data setting.
Register the tool coordinate value so that TCP is the tip position of the
fixed side tip.
Set the tool posture data so that the direction from the fixed side tip to the
movable side tip is positive (+) side of Z-axis.
Movable side tip
Tool Z-axis
Fixed side tip
Be sure to set the direction of tool Z-axis facing the movable
side tip.
NOTE
If the Z-axis is not set in the correct direction, the tip wear
cannot be properly compensated for.
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direction
TC P
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