YASKAWA YRC1000 - Tip Wear Compensation for Fixed Gun; Setting the User Coordinates

1 Spot Welding Application Using a Motor Gun
1.12 Tip Wear Detection and Wear Compensation (Motor Gun)
1-122
1.12.5 Tip Wear Compensation for Fixed Gun
The tip wear for the fixed gun (the gun that is not mounted on the manipulator)
can be detected and compensated in the following manner.
1.12.5.1 Setting the User Coordinates
Set the user coordinate with its home position located on the fixed tip end.
The + direction of the Z-axis must be directed towards the movable tip.
NOTE
The wear amount of the tip for the fixed gun cannot be
detected by the fixed sensor.
Build a system so that the sensor can move into the fixed
gun’s motion range to detect the tip wear.
NOTE
The YRC1000 has the External Reference Point Control
Function (the function to execute teaching or playback
operation with the manipulator TCP set to a point in space).
If the direction of coordinates used for the External Refer-
ence Point Control Function is the same as that of the
above coordinates, resetting the user coordinates is not
required.
Z
X
Y
User coordinates
132 of 198