1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
1-142
1.13.2.3 Gun Change Job
The following example explains the gun change job.
<Example of I/O Allocation>
<Example of Mounting a Gun>
Job name: GUN 1 PICK
Control group: R1
Input Signal Output Signal
Gun Chuck IN1 Gun connect/disconnect SOL OUT1
Gun Unchuck IN2 Gun 1 cover open/close SOL OUT2
Coupling confirmation IN3
Gun 1 presence LS IN4
Gun 1 cover open limit IN5
Gun 1 cover close limit IN6
Gun ID No. signal (start) IN21
Gun ID No. signal (end) IN23
NOP
MOVJ VJ=30 Moves to the standby position.
WAIT IN#(3)=OFF Confirms ATC uncoupling.
WAIT IN#(2)=ON Confirms ATC unchucking
WAIT IN#(4)=ON Confirms Gun 1 presence.
DOUT OT#(2)=ON Opens Gun 1 cover.
WAIT IN#(5)=ON Confirms Gun 1 cover opened.
:
MOVL V=500 Moves to the position which is just above the
Gun 1’s placing table.
MOVL V=100 PL=0 Moves to the ATC coupling position.
WAIT IN#(3)=ON Confirms ATC coupling.
DOUT OT#(1)=OFF ATC chucking
WAIT IN#(1)=ON Confirms ATC chucking.
GUNCHG GUN#(1) PICK Turns ON the gun motor power.
TIMER T=0.2 Waits for 0.2 seconds.
MOVL V=1000 Lifts the Gun 1.
:
WAIT IN#(4)=OFF Confirms Gun 1 absence.
DOUT OT#(2)=OFF Closes Gun 1 cover.
WAIT IN#(6)=ON Confirms Gun 1 cover closed.
:
MOVJ VJ=30 Moves to the standby position.
END
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