| 摘要 |
PROBLEM TO BE SOLVED: To perform spot welding with a high quality. SOLUTION: This controller controls a welding robot on which a spot welding gun 10 has been mounted on a working end, whose electrodes 12, 14 are driven by a servomotor 34. According to an encoder 32 detecting the displacement quantity of the electrode 12 during the welding of a member to be welded and a displacement quantity detected by the encoder 32, the thermal expansion process of the member to be welded is displayed by digitizing it in real time or by making it a graph, and thus a welding condition can be confirmed by a worker.
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