YASKAWA YRC1000 - Registering the Operation Tool; When Using a Single Arm Move Gun

1 Spot Welding Application Using a Motor Gun
1.4 System Setting (Motor Gun)
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1.4.3 Registering the Operation Tool
The registration method of operation tool differs depending on whether it
is a single arm move gun or a double arm move gun.
Considering the following cases, refer to “YRC1000 INSTRUCTIONS
(RE-CTO-A221) 8.3 Tool Data Setting” for the tool coordinate value and
tool data setting.
1.4.3.1 When Using a Single Arm Move Gun
Register the tool coordinate value so that TCP is the tip position of the
fixed side tip.
Set the tool posture data so that the direction from the fixed side tip to the
movable side tip is positive (+) side of Z-axis.
NOTE
Be sure to set the direction of tool Z-axis facing the movable
side tip.
If the Z-axis is not set in the correct direction, the tip wear
cannot be properly compensated for.
Fixed side tip
Movable side tip
TC P
Tool Z-axis direction
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