2.1.4. Tool angle/distance setting

2.1.4. Tool angle/distance setting

 

When executing spot welding, equalizing operation will be carried out based on the angle and distance data of the tool (welding gun) attached to the robot, so these items should be set as precisely as possible. (Refer to the Hi5 controller operation manual)

 

 

Figure 2.1 Setting tool length and angle of welding gun

 

n Tool length

Input the distance from the center of robot R1 axis flange to the tool nose (the top of fixed tip) for tool length, assuming that a new tip with no wear is attached. Set the coordinate direction of the tool coordinate system to be positive (+) based on the picture above, and input measured lengths X, Y and Z; or, set tool length using the automatic constant setting function.

 

n Tool angle

Input rotation angles of 3 directions (Rx, Ry, Rz) based on the flange coordinate system, or use the ‘Angle calibration’ function. Set the tool angle in the manner that the direction of the fixed tip to the top will be +Z. This can be confirmed by placing [coordinate system] of teach pendant on 『Tool』 and pressing the jog key [up] to see if it is the same as Z+ direction (Direction of fixed tip squeeze).

Set the tool angle as {0deg, 180deg, 0deg} if the tool state matches the picture above.