Motoman XRC 2001, Operator'S Manual

Page: 338 / 387

10.2 Registering Work Instructions
10-7
10.2.3
STROKE Instruction
An instruction to alternate short open and full open of a double stroke gun at any time other
than welding.
Executes the stroke changes sequence with an X double stroke mechanical stopper type gun;
and changes the change signal to full open or short open status with the other double stroke
guns.
This instruction can control only one gun at a time. Two guns cannot be pressed at the same
time.
n
Additional items
• • • • GUN# (X)
Specifies a gun characteristic file number of stroke to be changed.
‚ ‚ ‚ ‚ LONG or SHORT
Specifies the stroke status by alternating LONG and SHORT.
Do not use the “ATT” other than when absolutely necessary. When the ATT function is set,
the gun is closed during the robot move operation. Set the ATT value after setting the ATT
minimum value (0.01 seconds) and doing the operation confirmation.
For details on the stroke change sequence of an X double stroke mechanical stopper type
gun to be executed by this instruction, see " 13 SPOT GUN MOTION CONTROL ".
When using an X double stroke mechanical stopper type gun, stroke change is enabled
only at pressing. By executing this instruction, the gun performs dry spotting, and in the
mean time, the stroke is changed. (This instruction only turns the stroke change signal ON/
OFF with other types of guns.)
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 = 2
0007 T IM E R T = 0.10
0008 M O V L V = 1000
N OT E
S U P P L E -
M E N T
N OT E
S T R O K E
G U N S T R O K E
L O N G / S H O R T
• ‚
G U N N O .
GUN#(X)
X:1 to 8