YASKAWA YRC1000 - Registering and Confirming Positions by Touch Teaching

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
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1.13.3.2 Registering and Confirming Positions by Touch Teaching
1. Select {JOB} on the {Main Menu}.
2. Select {JOB}.
3. Move the manipulator to the welding position.
4. Move the movable tip to touch the workpiece.
5. Press [SHIFT] + [ENTER].
– Press [SHIFT] + [ENTER] on the JOB window to make a correction
in the tool coordinates Z+ axis direction.
– Press [FWD] to move the manipulator to confirm the corrected
position that is actually registered.
– After having taught the position by pressing [SHIFT] + [ENTER], the
manipulator correction amount can be confirmed on GUN DETAIL
SETTING window.
Workpiece
thickness: d mm
Distance between
tips: s mm
Correction in the
ToolZ+ direction for (s-d) mm
Teaching position
(Press [SHIFT] + [ENTER] to register)
Corrected position
(Move the manipulator by pressing [FWD])
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