| 摘要 |
PURPOSE:To speed up welding operation without deteriorating welding quality by commanding the start of welding by a welding robot when the change rate of the driving current value of each driving motor attains a stationary value. CONSTITUTION:Comparator circuits C1-Cn output a high-level signal to an AND gate 36 at the point of the time when the stationary values, i.e., the differential values by differentiating circuits D1-Dn attain zero after the respective axes of the welding robots are driven under the pressure and after the output levels of the circuits D1-Dn are increased by driving of motors 24-1-24-n. When all the output levels of the comparator circuits C1-Cn attain high levels, the start of welding by the welding robot is commanded via an AND gate 36 and an external interlock terminal to a timer conductor. The welding current is then supplied through a welding transformer to a welding gun and is passed to base metals to be welded. |
