1 Spot Welding Application Using a Motor Gun
1.12 Tip Wear Detection and Wear Compensation (Motor Gun)
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1.12.4 Wear Compensation
The manipulator motion and the gun stroke are adjusted according to the
amount of tip wear.
Wear compensation is performed to the following positions.
– To the teaching position short before SVSPOT instruction
– To the teaching position short before SVGUNCL instruction to which
WP tag or DRS tag is used.
– SVSPOTMOV teaching position
– SVDRESMOV teaching position
The figure below shows an example of the compensation under the
following conditions.
Single arm gun, Movable side wear amount: 3 mm, Fixed side wear
amount: 5 mm
<Job Example>
MOVJ
MOVJ ← In this position, wear compensation is done.
SVSPOT GUN#(1) PRESS#(1) WTM=1 WST=1
MOVJ
MOVJ
Movable side tip
Workpiece
3 mm
5 mm
Fixed side tip
Compensate the fixed side tip
5mm in the Z-axis+ direction
on the user coordinates.
Compensate the gun strok for
8 (=5+3) mm.
The fixed side tip is always shifted in the Z-axis + direction
on the tool coordinates. Therefore, be sure to register the
tool position and direction correctly. (Refer to
chapter 1.4.3 "Registering the Operation Tool".)
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