To program a spot instruction, it is necessary to specify the Distance schedules used for both Start Distance (SD) and End Distance (ED). Start Distance specifies the clearance trajectory for both tips of the servo gun when closing to the spot weld and End Distance specifies the clearance when opening after the spot weld.
Table 1. Distance Schedule Items
Item | Description |
---|---|
Gun (mm) | This item specifies the clearance between the part being welded and the gun tip for the selected schedule. |
Robot (mm) | This item specifies the clearance between the part being welded and the robot tip, for the selected schedule. |
Table 2. Distance Schedule Detail Items
Item | Description |
---|---|
End Distance (ED) attributes | End Distance attributes define the attributes used when the selected schedule is used as an End distance. This item specifies the clearance when opening after the spot weld. |
Termination Type: | This item defines the termtype used between the completed weld and the next point in the program. |
Acc instruction: | This item defines the acceleration used in the next move. |
Start Distance (SD) attributes
Manual/StandAlone (start dst attrib) |
This item specifies the clearance trajectory for both tips of the servo gun when closing to the spot weld. Start Distance attributes are defined only when the schedule is used in a standalone instruction or a manual operation. When a standard motion option spot instruction is used, the Start Distance attributes are controlled by the spot instruction, |
Termination Type: | This item defines the termtype used between the completed weld and the next point in the program. |
Acc instruction: | This item defines the acceleration used in the next move. |
Speed (%) | This item defines the speed used in the next move. |