YASKAWA YRC1000 User manual

MANUAL NO. RE-CSO-A054
YRC1000
OPERATOR’S MANUAL
FOR SPOT WELDING USING MOTOR GUN
Upon receipt of the product and prior to initial operation, read these instructions below
thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
182903-1CD
0
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ii
DANGER
• This manual explains the various components of the YRC1000
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the YRC1000.
• General items related to safety are listed in “Chapter 1.Safety” of
the YRC1000 INSTRUCTIONS. To ensure correct and safe
operation, carefully read the YRC1000 Instructions before reading
this manual.
CAUTION
• In some drawings in this manual, the protective covers or shields
are removed to show details. Make sure to install all the covers and
shields in place before operating this product.
• YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids the product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
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iii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGER
Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION
Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE
NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.
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iv
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence. (when in the play
mode or in the remote mode).
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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v
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
Equipment Manual Designation
YRC1000 Controller YRC1000
YRC1000 Programming Pendant Programming Pendant
Cable between the manipulator and the controller Manipulator cable
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vi
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • • “
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
Equipment Manual Designation
Programming
Pendant
Character Keys
/Symbol Keys
The keys which have characters or its
symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
/Numeric Keys
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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Contents
vii
1 Spot Welding Application Using a Motor Gun................................................................................. 1-1
1.1 System Overview (Motor Gun) .......................................................................................... 1-1
1.2 Function Keys ................................................................................................................... 1-3
1.3 Setting of Motor Gun.......................................................................................................... 1-5
1.3.1 Posture of Motor Gun ........................................................................................... 1-6
1.3.2 Basic Configuration .............................................................................................. 1-6
1.3.3 Setting of Pulse to Stroke Conversion Data ......................................................... 1-6
1.3.4 Tentative Setting of Torque to Pressure Conversion Data................................... 1-7
1.3.5 Register the Base Position for Wear Detection (Fixed Side)................................ 1-9
1.3.6 Execution of Motor Gun Auto Tuning Function................................................... 1-10
1.3.7 Confirmation of Motor Gun Auto Tuning Operation Status................................. 1-18
1.3.8 Clearance of MOTOR GUN AUTO TUNING Setting.......................................... 1-19
1.3.9 Setting of Torque to Pressure Conversion Data................................................. 1-21
1.3.10 Alarm ................................................................................................................ 1-22
1.4 System Setting (Motor Gun) ............................................................................................ 1-23
1.4.1 Gun Condition File.............................................................................................. 1-23
1.4.1.1 Entering Pulse to Stroke Conversion Data............................................ 1-28
1.4.1.2 Entering Torque to Pressure Conversion Data ..................................... 1-28
1.4.2 I/O Signals for a Motor Gun................................................................................ 1-29
1.4.2.1 Major I/O signal (Motor Gun)................................................................. 1-29
1.4.2.2 Welding I/F File ..................................................................................... 1-31
1.4.2.3 I/O Allocation......................................................................................... 1-37
1.4.2.4 PSEUDO INPUT SIGNAL Window ....................................................... 1-40
1.4.3 Registering the Operation Tool........................................................................... 1-41
1.4.3.1 When Using a Single Arm Move Gun.................................................... 1-41
1.4.3.2 When Using a Double Arm Move Gun .................................................. 1-42
1.4.4 Setting the Software Limit Value ........................................................................ 1-43
1.4.5 Setting the Lost-tip Detection Value ................................................................... 1-44
1.4.6 Gun Detail Setting File........................................................................................ 1-45
1.4.7 Application Condition Setting.............................................................................. 1-49
1.5 Before Teaching .............................................................................................................. 1-55
1.5.1 Manual Spot ....................................................................................................... 1-55
1.5.2 Manual Dry Spot................................................................................................. 1-55
1.5.3 Manual Press ..................................................................................................... 1-55
1.5.4 Open/Close of Motor Gun................................................................................... 1-56
1.5.5 Mounting Tips..................................................................................................... 1-56
1.5.6 Creation of Job ................................................................................................... 1-57
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Contents
viii
1.5.6.1 Job Creating Procedures for Pressure Instruction Registration ............ 1-57
1.5.6.2 Registering Steps .................................................................................. 1-59
1.6 Playback (Motor Gun)......................................................................................................1-60
1.6.1 Check Run .......................................................................................................... 1-60
1.6.2 Execute Welding................................................................................................. 1-60
1.7 Welding Instruction (SVSPOT Instruction).......................................................................1-61
1.7.1 Registration of Welding Instruction (SVSPOT Instruction) ................................. 1-61
1.7.2 Setting of Gun Pressure ..................................................................................... 1-62
1.7.3 Welding Current and Welding Time Settings...................................................... 1-65
1.7.4 Gun Stroke Setting before Welding ....................................................................1-65
1.7.4.1 Setting the Gun Stroke Position ............................................................ 1-65
1.7.4.2 Setting the Gun Stroke Motion Speed...................................................1-66
1.7.4.3 Motion Example..................................................................................... 1-66
1.8 Dry Spot (Motor Gun).......................................................................................................1-67
1.8.1 Registration of Dry Spot Instruction (SVGUNCL Instruction)..............................1-67
1.8.2 Dry Spot Pressure Setting .................................................................................. 1-68
1.8.3 Workpiece Transfer Function Using a Motor Gun .............................................. 1-71
1.8.3.1 Operation Flow Chart ............................................................................ 1-71
1.8.3.2 Instruction for Grasping/Releasing Workpieces .................................... 1-72
1.8.3.3 Manual Operation for Grasping/Releasing Workpieces ........................1-74
1.9 Manual Pressure.............................................................................................................. 1-75
1.10 Clearance Move Instruction (SVSPOTMOV Instruction) ............................................... 1-78
1.10.1 Operation Flow .................................................................................................1-78
1.10.2 Setting the Teaching Type................................................................................1-79
1.10.3 Setting the Clearance Files............................................................................... 1-81
1.10.4 Operations for Teaching Welding Points ..........................................................1-83
1.10.5 Clearance Move Instruction .............................................................................. 1-85
1.10.6 Clearance Move................................................................................................ 1-86
1.10.7 Press Teaching Function.................................................................................. 1-88
1.10.7.1 Operation Flow Chart ..........................................................................1-88
1.10.7.2 Procedure for Registering the Position................................................ 1-89
1.10.7.3 Setting the Pressure Conditions .......................................................... 1-89
1.10.7.4 Setting the Gun Pushing Coefficient.................................................... 1-90
1.10.8 Work Search Function ...................................................................................... 1-92
1.10.8.1 Operating procedures.......................................................................... 1-92
1.10.8.2 Parameter............................................................................................ 1-93
1.11 Tip Dressing Instruction (SVDRESMOV Instruction) ..................................................... 1-94
1.11.1 Operation Flow .................................................................................................1-94
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Contents
ix
1.11.2 Teaching Type Setting ..................................................................................... 1-95
1.11.3 Tip Dress Condition.......................................................................................... 1-95
1.11.4 Dressing Position Teaching Operation............................................................. 1-99
1.11.5 Tip Dress Instruction....................................................................................... 1-101
1.11.5.1 Tip Dress Instruction (SVDRESMOV) Flow ...................................... 1-102
1.11.5.2 Suspend and Restart of the Tip Dress Operation ............................. 1-103
1.11.5.3 Individual Control Instruction to a Dresser and a Gun....................... 1-103
1.11.5.4 Wear Detection with Tip Dressing Instruction ................................... 1-105
1.11.6 Dry Tip Dressing Operation ............................................................................ 1-107
1.11.7 Tip Dress Supervision .................................................................................... 1-108
1.12 Tip Wear Detection and Wear Compensation (Motor Gun)......................................... 1-112
1.12.1 Wear Detection and Wear Compensation Operation Flow Chart................... 1-112
1.12.2 Wear Detection............................................................................................... 1-113
1.12.2.1 Dry Spot Touch Motion...................................................................... 1-113
1.12.2.2 Movable Side Tip Detection .............................................................. 1-114
1.12.2.3 Example of Wear Detection .............................................................. 1-115
1.12.3 Spot Supervision Window Setting .................................................................. 1-116
1.12.4 Wear Compensation....................................................................................... 1-121
1.12.5 Tip Wear Compensation for Fixed Gun.......................................................... 1-122
1.12.5.1 Setting the User Coordinates ............................................................ 1-122
1.12.5.2 User Coordinate Number Setting ...................................................... 1-123
1.12.5.3 Example of Compensation ................................................................ 1-124
1.12.6 Teaching Positions with a Worn Tip ............................................................... 1-125
1.12.6.1 Teaching Example ............................................................................ 1-125
1.12.6.2 Parameters........................................................................................ 1-125
1.12.7 Wear Amount Loading.................................................................................... 1-126
1.12.8 Tip Mounting Position Error Detection............................................................ 1-127
1.12.8.1 Tip Mounting Position Error Detection Flow Chart ............................ 1-128
1.12.8.2 Tip Mounting Position Error Detection............................................... 1-130
1.12.8.3 Job Examples.................................................................................... 1-132
1.12.8.4 Importing the Tip Mounting Position Error......................................... 1-133
1.12.8.5 Monitoring the Failure of Mounting Tips............................................ 1-136
1.13 Other Functions Using a Motor Gun............................................................................ 1-137
1.13.1 Motor Gun Stroke ........................................................................................... 1-137
1.13.1.1 Registering the Full-open/Short-open Position.................................. 1-137
1.13.1.2 Registering the current position......................................................... 1-138
1.13.1.3 Registering by entering a numerical value ........................................ 1-138
1.13.1.4 Moving to Full-open/Short-open Position .......................................... 1-139
1.13.1.5 Moving to Full-open/Short-open Position While Other Window
is Displayed ........................................................................................ 1-139
1.13.2 Gun Change ................................................................................................... 1-140
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Contents
x
1.13.2.1 Gun Change Instruction ....................................................................1-140
1.13.2.2 Signal Status to Execute GUNCHG Instruction................................. 1-140
1.13.2.3 Gun Change Job ..............................................................................1-142
1.13.2.4 Gun Changing Timing........................................................................1-144
1.13.3 Touch Teaching Function ...............................................................................1-145
1.13.3.1 Setting the Workpiece Thickness ...................................................... 1-145
1.13.3.2 Registering and Confirming Positions by Touch Teaching................1-148
1.13.4 Signal Dry Spot...............................................................................................1-149
1.13.4.1 Setting an Input Signal Number......................................................... 1-149
1.13.5 Gun Pressure Compensation Function...........................................................1-151
1.13.5.1 Operation Flow Chart ........................................................................ 1-151
1.13.5.2 Overview ...........................................................................................1-152
1.13.5.3 Setting the Pressure Compensation Value........................................1-155
1.13.6 Compensation of Gun Arm Bend for C-Gun and X-Gun
(SINGLE ARM MOVE) .....................................................................................1-157
1.13.6.1 Setting the Gun Arm Bend Compensation Coefficient ...................... 1-157
1.13.6.2 Compensation Example .................................................................... 1-158
1.13.6.3 Disabling Gun Arm Bend Compensation...........................................1-159
1.13.7 Welding Conditions Group Output Function ...................................................1-160
1.13.7.1 Operation Flow Chart ........................................................................ 1-160
1.13.7.2 Procedure for Assigning the Group Output Signal ............................ 1-160
1.13.7.3 Setting the Group Output Tag ........................................................... 1-162
1.13.7.4 Group Output.....................................................................................1-163
1.13.8 Workpiece Thickness Detection Function.......................................................1-164
1.13.8.1 Outline ............................................................................................... 1-164
1.13.8.2 Instruction .......................................................................................... 1-165
1.13.8.3 Operation Procedures ....................................................................... 1-166
1.13.8.4 Related Functions ............................................................................. 1-176
1.13.8.5 Notes ................................................................................................. 1-178
1.13.9 Automatic Tool Number Select Function for Guns ......................................... 1-179
1.13.9.1 Setting of Validating the Function...................................................... 1-179
1.13.9.2 Setting of Tool Number...................................................................... 1-179
1.14 Loading the DX100 Motor Gun Condition File ............................................................. 1-180
1.15 The Instruction List (Motor Gun) .................................................................................. 1-185
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1 Spot Welding Application Using a Motor Gun
1.1 System Overview (Motor Gun)
1-1
1 Spot Welding Application Using a Motor Gun
1.1 System Overview (Motor Gun)
An I/O signal diagram of a typical system is shown below.
Fig. 1-1: Spot Welding System I/O Signal Diagram
Controller Power
WELDING
CONDITION
(8 bits max.)
WELDING
COMMAND
WELDING
COMPLETE
WELDING
ERROR
WELDING
ERROR RESET
WELD ON/OFF
Source
Welding motor gun
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1 Spot Welding Application Using a Motor Gun
1.1 System Overview (Motor Gun)
1-2
• Welding conditions (level signals)
• Sets the welding conditions for the welder.
• The output format can be set as binary or discrete.
• Can handle up to 255 conditions in binary.
• WELDING COMMAND (level/pulse)
Outputs the start instruction to the welder.
• WELDING ERROR RESET(level)
Resets the welding alarm status of the welder.
SUPPLE-
MENT
For details on signal contents, refer to chapter 1.4.2.2
Welding I/F File.
128 64 32 16 8 4 2 1
(8) (7) (6) (5) (4) (3) (2) (1)
8 bits
The numbers in parentheses are for discrete.
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1 Spot Welding Application Using a Motor Gun
1.2 Function Keys
1-3
1.2 Function Keys
Each function used for spot welding is allocated on the [NUMERIC KEY]s
of the programming pendant.
Displays the MANUAL PRESS window.
Displays the WORK HOME POSITION window.
[FWD] + [TASK ORIGIN]
With the WORK HOME POSITION window in the teach
mode, press these keys to move the manipulator to the
work home position.
Displays the SVSPOT instruction in the input buffer line in
order to register spot welding operation.
[INTERLOCK] + [SPOT]
With the MANUAL PRESS window, press these keys to
execute manual spot welding.
Displays the SVGUNCL instruction in the input buffer line in
order to register dry spot welding operation.
[INTERLOCK] + [GUN CLOSE]
With the MANUAL PRESS window, press these keys to
execute manual dry spot welding.
[INTERLOCK] + [WELD ON/OFF]
Turns the welding ON/OFF signal ON or OFF.
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1 Spot Welding Application Using a Motor Gun
1.2 Function Keys
1-4
The SHORT OPEN POSITION SETTING window appears
the first time this key is pressed.
The selection No. for the short open position is replaced by
pressing this key while the SHORT OPEN POSITION
SETTING window is appeared.
[INTERLOCK] + [SHORT OPEN]
The movable side tip moves to the selected short open
position.
The FULL OPEN POSITION SETTING window appears the
first time the key is pressed.
The selection No. for the full open position is replaced by
pressing this key while the FULL OPEN POSITION
SETTING window is appeared.
[INTERLOCK] + [FULL OPEN]
The movable side tip moves to the selected full open
position.
[INTERLOCK] + [WELD ALM RST]
A welder alarm reset signal is output to the welder while
these keys are held down.
[INTERLOCK] +[PRESSURE]
With the MANUAL PRESS window or the JOB window,
press these keys to execute pressurizing.
[INTERLOCK] +[RELEASE]
Executes releasing.
[INTERLOCK]+ [SEARCH]
Executes searching a work.
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1 Spot Welding Application Using a Motor Gun
1.3 Setting of Motor Gun
1-5
1.3 Setting of Motor Gun
Set up the motor gun by following the procedures below. The dynamic
characteristics of the motor gun need to be automatically identified by the
Motor Gun Auto Turning function so that the pressurization is executed by
the optimum pressure torque instruction for the each motor gun.
Before execution of Motor Gun Auto Turning function, procedures
described in the chapters from chapter 1.3.1 "Posture of Motor Gun" to
chapter 1.3.5 "Register the Base Position for Wear Detection (Fixed
Side)" are necessary.
After execution of Motor Gun Auto Turning, register the base position for
the wear detection again because of the changes of the detection
accuracy.
Set the posture of the motor gun
for pressing downward
(Refer to Chap. 1.3.1)
Basic configration of Gun Condition file
(Refer to Chap. 1.3.2)
Setting of the conversion data from
pulse to stroke
(Refer to Chap. 1.3.3)
Tentative setting of
the conversion data from torque to pressure
(Refer to Chap. 1.3.4)
Setting of the conversion data from torque to pressure
(Refer to Chap. 1.3.9)
Register the base position for
wear detection (fixed side)
(Refer to Chap. 1.3.5)
Register the base position for
wear detection (fixed side)
(Refer to Chap.1.3.5)
Execution of Motor-Gun Auto Tuning
(Refer to Chap. 1.3.6)
Prepare for Motor-Gun Auto Tuning operation
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1 Spot Welding Application Using a Motor Gun
1.3 Setting of Motor Gun
1-6
1.3.1 Posture of Motor Gun
Set up the motor gun to the posture shown in the figure below.
1.3.2 Basic Configuration
By referring to chapter 1.4.1 "Gun Condition File", set up the following
items in the Gun Condition file.
• GUN TYPE
• WELDER NO.
• TORQUE DIR
• MAX PRESSURE
1.3.3 Setting of Pulse to Stroke Conversion Data
Refer to chapter 1.4.1.1 Entering Pulse to Stroke Conversion Data for
this setting.
NOTE
When executing the welding instruction, the weld complete
signal may be already turned ON at the beginning of the
welding instruction. At that time, "AL4621: WELD COM-
PLETE SIGNAL ERROR" may occur.
To prevent the alarm, set the item "WELD COMPLETE OFF
WAIT TIME" in chapter chapter 1.4.7 "Application Condi-
tion Setting". Setting the item allows the controller to wait a
set time until the weld complete signal is turned OFF.
Also, the alarm can be prevented by adjusting the output
pulse time of the weld complete signal by the welder.Please
contact to the welder manufacturer if they allows changing
the output pulse time.
Direction to press downward
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1 Spot Welding Application Using a Motor Gun
1.3 Setting of Motor Gun
1-7
1.3.4 Tentative Setting of Torque to Pressure Conversion Data
In order to use Motor Auto Tuning function, it is necessary to set the
torque to pressure conversion data of the Gun Condition file tentatively.
Normally, the tentative setting is already set. Therefore, confirm that
pressing can be done correctly by the maximum pressure and half of the
maximum pressure.
If the tentative setting is not set, set the gun motor torque at the maximum
pressure and half of the maximum pressure as shown in the following
procedures.
<Ex. when the maximum pressure is 6000(N)>
Find and set the torques(%) at 6000(N) and 3000(N)
1. Set a value to {THICKNESS FORCE GAUGE} and select “ENABLE” at
{PRESS MEASUREMENT MODE} on the “MANUAL PRESS” window.
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1 Spot Welding Application Using a Motor Gun
1.3 Setting of Motor Gun
1-8
2. Set the pressure value to the pressure file.
– As the unit of this pressure, specify torque(%).
– Specify 5(%) to the touch speed of the pressure file.
3. Register SVGUNCL instruction to a JOB.
– Specify the pressure file set at the step 2.
4. Execute the JOB and measure the pressure with the force gauge.
5. Execute the above procedures 2 through 4 with the different toque(%)
to find a toque(%) for the pressure to be maximum.
6. Execute the above procedures 2 through 4 with the different toque(%)
to find a torque(%) for the pressure to be half of the maximum one.
7. Set torques (%) for both maximum and half of the maximum pressure.
And then, change the SETTING from “NOT DONE” to “DONE”.
NOTE
Pressurization will not be executed in case the Gun Condi-
tion file is incomplete.
When applying the pressure for the first time, set a tentative
value to the Gun Condition file.
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1 Spot Welding Application Using a Motor Gun
1.3 Setting of Motor Gun
1-9
1.3.5 Register the Base Position for Wear Detection (Fixed Side)
Register the base position for wear detection by following the procedures
below.
NOTE
W
In case a gun is shipped with the manipulator, the base
position for the wear compensation (fixed side) setting is
done.
5% is set to touch speed and 1000N is set to the pressure
as its initial condition for the gun shipped with the manipula-
tor.
In this consequence, when the wear detection is executed,
follow the conditions described above (touch speed: 5%,
pressure: 1000N).
When modifying those values, clear the base position for
the wear compensation data and register the new base
position again.
NOTE
Execute the wear detection operation. If the wear detection
operation is not done, the stable pressure cannot be
acquired.
Mount a new tip
Clear the base position
for the wear detection.
(Refer to Chap 1.12.3)
Register a base position
by dry spotting touch motion.
(Refer to Chap. 1.12.2.1)
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1 Spot Welding Application Using a Motor Gun
1.3 Setting of Motor Gun
1-10
1.3.6 Execution of Motor Gun Auto Tuning Function
By referring to the following procedures, execute Motor Gun Auto Tuning.
This function automatically repeats applying pressure to identify the
dynamic characteristics parameter of the motor gun.
This identification takes 5 to 10 minutes.
1. Select {SPOT WELDING} on the {Main Menu}.
2. Select {MOTOR GUN AUTO TUNING}.
– The MOTOR GUN AUTO TUNING window appears.
NOTE
Before execution of the auto tuning operation, assure the
safety.
NOTE
Before the execution of the auto tuning operation, confirm
that the center of both gun tips matches well at the contact
position because tips are pressed at maximum pressure by
the dry spotting motion during the auto tuning operation.
NOTE
After the execution of Motor Gun Auto Turning function, do
not fail to re-measure the pressure and reset the torque to
pressure conversion data.
NOTE
An alarm “4708: Motor Gun Auto Tuning incomplete”
occurs, in case SVSPOT instruction is executed while Motor
Gun Auto Tuning is in incomplete status.
Be sure to execute the Motor Gun Auto Tuning function.
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