4.5.2. Connection/disconnection command

In the welding gun change environment, welding gun connection / disconnection is executed in one of two ways; by R code or by the execution of a work program. When connecting the welding guns, the gun number and the tool number will be changed automatically according to the set value, and when separating the welding guns, the gun number and the tool number will be changed automatically.

(1) R358

Welding gun change by R code; used in motor ON state of manual mode (Enable switch ON)

Control	Parameter	#1	#2
R358,#1,#2	Meaning	connection / disconnection	Gun Number
	Set value	Connection = 1, Disconnection = 0	Welding Gun Number to be changed
	Example of usage	R358,1,2 (Connect Gun Number 2)
	Example of usage	R358,0 (Separate the gun)

(2) GUNCHNG

A function of welding gun change by execution of a work program

GUNCHNG ON/OFF/Fixed,GN=<Gun No.>,DI<Connection Complete Condition>,WT=<Connection Complete Waiting Time>
ON/OFF/Fixed	ON	Welding gun connected
	OFF	Welding gun disconnected
	Fixed	Welding gun connected (electric/mechanical connection not necessary)	Motor and encoder information sustained (Refer to 2.16.)
Gun number	1–16	Number of the welding gun to connect	Parameter to be ignored when GUNCHNG OFF
Connection complete condition	Conditional expression	Conditions for the completion of mechanical connection
Connection complete waiting time <0–5.0> (s)		, Connection complete signal input waiting time (If the parameter is absent or 0, the waiting time is infinite, and if it is not completed within the relevant time, an error occurs.)

The connection will be processed completely when the mechanical connection and the internal processing in the robot controller are finished. The connection completion waiting time is the time for waiting for the two processes above to be completed.

4.5.2. Connection/disconnection command​

4.5.2. Connection/disconnection command