Hyundai HI4 operation manual Spot Command, Gunsea Command

11. Robot Language Explanation

------------------------------------------------------------------------------------------------

2 dimension search uses search function twice and records the shift amounts of point P,Q. The shift amount of point P is recorded in R1 register and referenced during moving to P point. The shift amount of point Q is recorded in R2 register and referenced during moving to Q point.

11.3.12 SPOT Command

Description	Servo Gun Welding (M72)
Syntax	SPOT GN=<Gun No.>,CN=<Welding Condition>,SQ=<Sequence No>
	Gun No.	Gun No to weld	1∼2
	Welding	Welding condition No of data for pressure, welding	1∼64
Parameter
	condition	condition
	Sequence No	Sequence No that gun actuation and electrifying signal	1∼64
		are recorded.
Example	SPOT GN=1,CN=1,SQ=10

Introduction

It is a function of spot welding. Gun actuation is controlled by servo system in a different way of air gun and outlay electrifying signal to a welder after gun acting.

Note

(1) Tool number is changed automatically when gun number is selected(R210) in using of multi gun. But gun number is not changed automatically when tool number is selected (R49).

(2)Spot function must be recorded at the first function of a step. It will not be executed when recorded at the second of a step.

(3)Use one touch recording (Gun LED flickering) when step recording. If not, correction of tip abrasion would not be executed.

(4)Use in small pressure lest a test workpiece is not deformed when teaching. If a test workpiece is deformed, move the fixed tip.

(5)If the step where spot welding function (M72) is recorded is modified, the amount of abrasion would be corrected too.

11.3.13 GUNSEA Command

Description	Gun Search		(M73)
syntax	GUNSEA	GN=<Gun No>,SE=<Search No>,PR=<Gun Pressure>
	Gun No		the gun number to weld	1∼2
Parameter
	Search	No	1: Gun search 1 , 2: Gun search 2	1∼2
	Gun		Gun actuation pressure	50∼999
Example	SPOT GN=1,SE=1,PR=50

----------------------------------------------------------------------------------------

11 - 33