| 摘要 |
PURPOSE:To perform titled control by which an overall effect of reducing cost is obtd. in a wide application range by controlling the torch lifting shaft of an MAG, MIG welding robot via a forward-backward relay respectively with separate routes prior to welding and during arc generation. CONSTITUTION:Whether the reading ZE of a height detector 15 attached to a vertical-axis slide 12 is the teaching data Zpn of a height setter 25 or not is compared in a comparator 26, and if not, a forward-backward relay 9 is operated by the output from a speed regulator 10 to run a vertical-axis motor 11. A welding power source 6 and a feeder 4 are turned on and a wire 3 is fed to start arching when ZE = ZPn is attained. The signal from the comparator 26 is at the same time changed over from a relay 9 to a speed correcting circuit 28 by a welding current relay 29. The output Va from a welding current detector 7 and the input voltage Vm to a feed motor 5 are compared in a comparator 8, and the signal is emitted to rise or lower the slide 12 according to the result thereof. The motor 11 is operated by the output from the setter 10 via the relay 9. |
