YASKAWA DX100 Operator's Manual page 418

DX100
9.8.2.4 Gun Changing Timing
Gun status
Coupling confirmation
Gun identification signal
PICK/PLACE SOL
Chucking confirmation
Unchucking confirmation
Gun-axis servo
9 Spot Welding Application Using a Motor Gun
9.8 Other Functions Using a Motor Gun
The timing to change a gun is illustrated below.
PLACE
PICK
ON
OFF
ON
OFF
CHUCK
UNCHUCK
ON
OFF
ON
OFF
ON
OFF
GUNCHG PICK
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GUNCHG PLACE
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