The Gun Teach Setup screen displays if either the manual or auto gun touchup function is enabled. Table 9, " Gun Teach Setup Items " lists and describes the Gun Teach Setup screen items.
Table 9. Gun Teach Setup Items
Item | Description |
---|---|
Max offset auto confirmed(mm): Default: 0.0 |
If the calculated offset distance for moving the robot to the panel is less than this value, the robot will move without prompting the technician for approval. |
Gun offset @record(mm): Default: 5.0 |
This item defines the separation distance between the gun tip and the panel surface when the spot is recorded. The gun tip opens to generate this separation distance when the offset motion is performed |
Speed of offset motion(mm/sec): Default: 100 |
This item specifies the motion speed of the robot during offset motion. This speed is also scaled down when override speed is less than 100% |
Position register (PR[#]): Default: 1 |
This item is a position register that is used internally during the gun tip touchup operation. Select a PR[#] that is not used for another purpose. |
Backup distance(mm): Default: 10 |
This item is the distance the Gun Tip will move at a constant speed before returning to the starting position where the AutTchup F-key was pressed. The gun tip will open by this distance (plus a small distance to reach the detect speed) at the start of Auto touchup. Panel detection will not start until the gun tip returns to the position where the AutTchup F-key was pressed |
Detect (close) speed(mm/sec): Default: 30 |
This item is the speed of gun close during panel detection.
|
Pressure margin: Default: 25.0 kgf |
Pressure margin ensures that panel detection does not occur prematurely.
The motor torque must increase from the torque needed to move at detect speed,
by a value that corresponds to this pressure margin before the panel will
be detected.
|
Average deflection @detect(mm): Default: 1.0 |
Depending on the rigidity of the panel, it will bend a small
distance at detection. Panel deflection distance is used to account for this
panel deflection.
|