When Using A Double Arm Move Gun - YASKAWA YRC1000 Operator's Manual

1.4.3.2 When Using a Double Arm Move Gun

1 Spot Welding Application Using a Motor Gun
1.4 System Setting (Motor Gun)
Register the tool coordinate value so that TCP is the contact position of
the both fixed side tip and movable side tip.
Set the tool posture data so that the direction from the lower side tip to the
upper side tip is positive (+) side of Z-axis.
Upper side tip
Tool Z-axis direction
TCP
Lower side tip
Be sure to set the tool Z-axis in the direction from the lower
side tip to the upper side tip. If the Z-axis is not set in the
NOTE
correct direction, the wear tip cannot be properly compen-
sated for.
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