1 Spot Welding Application Using a Motor Gun
1.12 Tip Wear Detection and Wear Compensation (Motor Gun)
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1.12.5.3 Example of 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
<Job Example>
MOVJ
MOVJ ← In this position, wear compensation is done.
SVSPOT GUN#(1) PRESS#(1) WTM=1 WST=1
MOVJ
MOVJ
<Example of compensation>
Single arm move, Movable side wear amount: 3 mm, Fixed side wear
amount: 5mm
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 workpieces is compensated in the Z-axis + direction on
the specified user coordinates. Therefore, be sure to regis-
ter the position and direction of the user coordinates cor-
rectly. (Refer to chapter 1.12.5.1 Setting the User
Coordinates.)
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