8.33. R358 Servo tool change
8.33. R358 Servo tool change
This function allows connection/disconnection of the servo tool to/from the servo tool change system. In order to change the servo tool in the servo tool change system, it is necessary to disconnect/connect the power and various signal lines by using the ATC (Auto tool change) system. If the servo tool is the servo gun and the tool change work needs to be performed manually, it is necessary to move the robot to the stand of the servo gun, which needs to be connected/disconnected while in the Motor On state (Enable switch is on), before carrying out the tool change. For other servo tools, such as positioners, it is necessary to perform the change work after completing the preparation for the connection and disconnection work.
For details, refer to 『Hi5a Controller Spot Welding Function Manual』.
Table 8‑3 Example of “R358: Servo tool change” parameter
Operation | Parameter | #1 | #2 |
R358,#1,#2 | Meaning | Disconnection/Connection/Fixed | Gun number |
Setting value | 0:Disconnection, 1: Connection, 2: Fixed | 1~16 | |
Example of use | R358,1,2 (Servo tool #2 connection) | ||
R358,0 (Servo tool disconnection) | |||
(1) Press the [R..(NO)]key→ [358]→ [ENTER(YES)] key, and then the servo tool change operation dialog box will be displayed.
(2) Enter one of 0 (Disconnection), 1 (Connection), and 2 (Fixed) and then press the [ENTER(YES)] key. Then, the spot gun number input dialog box will be displayed.
(3) Enter the welding gun number to change and press the [ENTER(YES)] key. The change welding gun number is displayed on the status display screen.
l This function cannot be executed in AUTO mode.
l When you select the gun number, the spot gun corresponding to the tool number will automatically be changed to the designated tool number. For the spot gun corresponding tool number, refer to 『[F2]: System』 → 『4: Application parameter』 → 『1: Spot welding』 → 『1: Tool No. Corresponding to Gun No., and gun-type set』.
l This can be set only when the motor is turned on.