Manual Operation For Grasping/Releasing Workpieces - YASKAWA YRC1000 Operator's Manual

1.8.3.3 Manual Operation for Grasping/Releasing Workpieces

1 Spot Welding Application Using a Motor Gun
1.8 Dry Spot (Motor Gun)
7. Press [INSERT] and then press [ENTER].
(1) The window returns to JOB CONTENT window after pressing
[ENTER].
(2) The instruction can be inserted by pressing [ENTR] while LED
indicator is lit by pressing [INSERT].
This section describes how to grasp/release workpieces by manual
operation from the programming pendant.
With this operation, the workpiece can be easily grasped/released when
teaching the position for transferring workpieces.
This operation can be performed only in the teach mode.
1. Contact the fixed side tip to the workpiece to let the manipulator grasp
the workpiece.
– Pressure is applied when pressing [INTERLOCK] + [8].
To set the pressure conditions, use {TOUCH SPEED}, {PRESSU
UNIT} or {PRESSURE} on MANUAL PRESS window.
2. Release the Workpiece
– Press [INTERLOCK] + [9] to release the gun axis.
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