Method and apparatus for controlling spot welding robot

摘要

The disclosed spot welding robot controlling method and apparatus is able to carry out an operation for pressurizing a spot welding gun without a dead time of a spot welding robot which has the spot welding gun driven by a fluid pressure. The control method includes the steps of measuring a gun closing time, measuring an axial coincidence time, calculating a time difference between the time point of the command position axial coincidence and the output time point of the pressurization command in an actual welding operation using the gun closing time and the axial coincidence time, and outputting the pressurization command to the spot welding gun at a time point which is derived by subtracting the time difference from the time point of the command position axial coincidence in the actual welding operation.