Motoman XRC 2001, Operator'S Manual

Page: 337 / 387

10.2 Registering Work Instructions
10-6
ƒ ƒ ƒ ƒ WTM=X
Specifies the number of welding conditions set to the welder.
„ „ „ „ GUN#(X)
Specifies the second gun at two-gun control.
Cannot be omitted at simultaneous two-gun control. Do not set when only one gun is used.
…
… …
… MODE=X
Specifies the operation mode of the second gun at two-gun control. Specifies the open sta-
tus before and after welding in the case of double stroke.
Do not set when only one gun is used.
Setting data is the same as shown in the table in
‚
.
† † † † WTM=X
Specifies the number of the welding conditions set to the second welder at two-gun control.
Do not set when only one gun is used.
‡
‡ ‡
‡ ATT=X
Starts execution of SPOT X second(s) before reaching the move instruction immediately
before it. However, it is necessary to specify “NWAIT” to the move instruction immediately
before the SPOT instruction. By omitting this item, the SPOT instruction is executed as
usual after reaching the move instruction.
n
Operation
*1
When the number key [./SPOT] is pressed, the “SPOT” instruction is displayed in the
input buffer line.
*2
The SPOT instruction is registered.
n
Examples
The sequence of the SPOT instruction is started from the short open 0.5 seconds before the
manipulator reaches the position of step 5. After completion of the sequence, the status
becomes full open to move to the execution of step 6.
If the manipulator starts moving before the gun opens when gun open status is not verified,
adjust the timing with the TIMER instruction as shown below.
In the job content display, move the cursor to the line before the place where the SPOT
instruction is to be registered. Press the number key [./SPOT] or [INSTRUCTION
LIST]
*1
Additional item and number data modification Press [ADD], then [ENTER]
*2
O peration
Explanation
=> S P O T GUN#(1) M O D E = 0 W T M = 1
0005 M O V L V = 1000 N W A IT
0006 S P O T G U N #(1) M O D E = 2 W T M = 5 A T T = 0.5
0007 M O V L V = 1000