| 摘要 |
PROBLEM TO BE SOLVED: To reduce a reaction force applied to a gun and a robot while maintaining a right gun posture by properly lowering rigidity at the time of a gun pressing operation. SOLUTION: A tool coordinate system is set in the case where a gun is mounted to a robot, and a work coordinate system is set in the case where a stationary gun is used. An original point of the coordinate system is chosen at the tip of a fixing side chip C1, and a posture of the coordinate system is chosen to that a Z axis is parallel to a gun pressurizing direction. Rigidity lowering of the Z axis direction is inputted on a flexibility inputting display. Before a gun pressurizing operation, the rigidity of a servo system is lowered according to the condition set in the display. Under the condition that the rigidity of the gun pressurizing direction is lowered, the gun is pressed and welded. A robot carries out welding at the position where the robot moves corresponding to the time when the gun is mounted to the robot/the stationary gun is used for compensating a displacementΔ.
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