2.1.2. Tool angle/distance setting

2.1.2. Tool angle/distance setting

 

In carrying out spot welding, the equalizing motion (the fixed tip goes through the clearance position to contact the panel) is needed. For this operation, it is necessary to set the tool coordinate. The +Z axis should be set accurately in the direction from the fixed tip to the moving tip. (Refer to the Hi5a controller operation manual)

 

 

Figure 2.3 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 electrode with no wear is attached. To set the tool length, set the coordinate direction of the reference tool coordinate in the (+) direction and input the measured length values of X, Y, and Z or use the auto calibration 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.