| 摘要 |
<p>A spot welding system including a welding gun (14) with an electrode pair actuated by a servo-motor, a robot (18) carrying the welding gun or objective workpieces and changeing the relative positions and orientations of the welding gun and the workpieces, and a gun motion controller (20) controlling the servo-motor to actuate the electrode pair to open or close. The gun motion controller includes a motion commanding section outputting a motion command to the servo-motor in accordance with a speed set-value designating a closing speed of the electrode pair, and a set-value adjusting section automatically adjusting the speed set-value to an appropriate value.
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