YASKAWA YRC1000 - Compensation Example

1 Spot Welding Application Using a Motor Gun
1.13 Other Functions Using a Motor Gun
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4. Select “GUN ARM BEND DOEF.”
– GUN ARM BEND DOEF.
Set the compensation amount for gun arm bend per 1000N
pressure.
5. Enter a numerical value, and press [ENTER].
1.13.6.2 Compensation Example
When 2.0 (mm/1000N) is specified for the gun arm bend compensation
coefficient:
NOTE
If “0” is entered, the gun arm bend compensation function
will not be effective.
NOTE
The gun arm bend compensation operation is done by the
robot when following instructions are executed.
• SVSPOT instruction
• SVGUNCL instruction to which DRS tag is added.
• SVSPOTMOV instruction
• SVDRESMOV instruction
In case the robot is not included in the job control group, the
gun arm bend compensation will not be executed.
<Example>
R1+S1 : Gun arm bend compensation is executed
S1R1+ : Gun arm bend compensation is unexecuted
Gun Pressure (N) Gun Arm Bend Compensation
Amount (mm)
00.0
1000 2.0
2000 4.0
3000 6.0
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