9.  SETUP SERVOGUN GUN TEACH SETUP SCREEN

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.
  • Decrease the detect(close) speed to improve sensitivity

  • Increase the detect(close) speed to improve cycle time

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.
  • Decrease the pressure margin to improve sensitivity

  • Increase the pressure margin to avoid mis-detection of panel surface

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.
  • Increase the average deflection if actual panel deflection is larger than the default value of 1.0mm when detected

  • Decrease the average deflection if actual deflection is smaller than the default value of 1.0mm.