Motoman XRC 2001, Operator'S Manual

Page: 356 / 387

13.2 Process Timing
13-5
13.2.2
OPERATION MODE = 1(SHORT OPEN -> WELDING
-> SHORT OPEN)
n
Gun Motion Control (With C gun double stroe) (With X gun double
stroke, cylinder type)
n
Gun Motion Control (With X gun double stroke, mechanical stopper
type)
„
S t r o k e C h a n g e 1
(Output)
Manipulator starts moving immediately after signal
ƒ
i s O F F w h e n " G U N O P E N " i s O F F .
G u n S h o r t O p e n
Detection (Input)
Stroke Change (Output) characteristic can be
changed by parameter (Figure shows on setting at
F U L L O P E N ) .
S h o r t O p e n ( O F F )
X X
Signal Control Order
•
‚
ƒ
ƒ
ƒ
•
•
M a n i p u l a t o r M o v e m e n t
Welding Instruction
(Output)
W e l d i n g C o n d i t i o n s
(Output)
Pressure Instruction
(Output)
Complete of
Welding (Input)
Manipulator starts moving by welding completion
(Input) signal when "GUN OPEN" is not specified in
spot input allocation information display.
Turns ON/OFF welding instruction, welding condition
and pressure instruction simultaniously.
However, strictly saying, output welding instruction
immediately after welding condition output.
Anticipater Designation
G u n F u l l O p e n
Detection (Input)
Stroke Change 1 (Output)
X Mechanical Stopper Type
G u n S h o r t O p e n
Detection (Input)
Stroke change is of a double solenoid method
(Stroke Change 1, 2) when an x gun double stroke
mechanical stopper type is used.
O F F
O F F
Gun Pressure Detection
(Input) X Mechanical
S t o p p e r T y p e
„
Manipulator starts moving immediately after signal
ƒ
i s O F F w h e n " G U N O P E N " i s O F F .
X X
Signal Control Order
•
‚
ƒ
ƒ
ƒ
•
•
M a n i p u l a t o r M o v e m e n t
Welding Instruction
(Output)
W e l d i n g C o n d i t i o n s
(Output)
Pressure Instruction
(Output)
Complete of
Welding (Input)
Manipulator starts moving by welding completion
(Input) signal when "GUN OPEN" is not specified in
spot input allocation information display.
Turns ON/OFF welding instruction, welding condition
and pressure instruction simultaniously.
However, strictly saying, output welding instruction
immediately after welding condition output.
Anticipater Designation
Stroke Change 2 (Output)
X Mechanical Stopper Type
G u n F u l l O p e n
Detection (Input)