YASKAWA YRC1000 - When Using a Double Arm Move Gun

1 Spot Welding Application Using a Motor Gun
1.4 System Setting (Motor Gun)
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1.4.3.2 When Using a Double Arm Move Gun
Register the tool coordinate value so that TCP is the contact position of
the both fixed side tip and movable side tip.
Set the tool posture data so that the direction from the lower side tip to the
upper side tip is positive (+) side of Z-axis.
NOTE
Be sure to set the tool Z-axis in the direction from the lower
side tip to the upper side tip. If the Z-axis is not set in the
correct direction, the wear tip cannot be properly compen-
sated for.
Lower side tip
Upper side tip
TCP
Tool Z-axis direction
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