YASKAWA YRC1000 - Gun Changing Timing

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
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1.13.2.4 Gun Changing Timing
The timing to change a gun is illustrated below.
Gun Status
Coupling Confirmation
Gun ID No. Signal
Connect/Disconnect SOL
PLACE
PICK
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
GUNCHG PICK GUNCHG PLACE
CHUCK
UNCHUCK
Gun Chuck
Gun Unchuck
Gun-Axis Servo
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