CONTROL METHOD FOR SPOT WELDING ROBOT.

摘要

Before spot welding is executed by a robot, a pressurization instruction is generated to a welding gun and time required for a pressurization completion signal to return from the welding gun is measured inside the robot and its measured value is set and stored as a required pressurization time (TO). When spot welding is executed next, time (second, T) from the start of positioning of the robot till its end is calculated. Subsequently, the pressurization start point of the welding gun is determined so that the pressurization end time of the welding gun is in conformity with the positioning end time of the robot, on the basis of these calculations. As a result, a work time can be shortened without requiring a standby time after completion of positioning.