Kawasaki Servo Gun

[zanealtenkirch]

Hi All

I have an Obara servo gun on a Kawasaki robot with D series controller.


Does any body know how to set the gun closed position as zero and gun open position as maximum stroke. cos currently the gun closed position is a joint value of the maximum stroke and gun open position is zero

Cheers

[renrab]

This is for mastering a Servo Gun on a Kawasaki D+

-Menu
-Aux Function
-Spot Weld
-Servo Weld Gun Mechanical Parameters
-Gun 1 (Hit Enter)
-Upper Limit/Lower
-Set Lower Limit to -200 or max opening of Gun (Negative Value)
-Set Upper to Zero
-Disconnect/Reconnect the Gun to utilize new values
-Open gun fully look at value of Joint 7
-Go back to upper limit set it to a Positive value for whatever Joint 7 was fully open
-Disconnect/Reconnect gun should read zero when closed, upper limit value when fully opened should be what you entered

And your done,

Notes:

-Use new points/weld caps for zeroing
-Check servo motor for resolution values, or read online how to calculate resolution