Operator`s manual

2.9 Spot Welding Instruction
2-264
3. ATT= Anticipation time
The following tag can be added or omitted.
MOVL V=1000 NWAIT    Step 5
GUNCL GUN#(1) T=2.00 ATT=0.50
Turns ON the Gun 1 pressure signal 0.5 seconds before the manipulator reaches Step 5, and
turns it OFF 2 seconds later (1.5 seconds after the manipulator reaches Step 5).
No. Tag Explanation Note
3
ATT=Anticipaton
time
Specifies the anticipation time for which the exe-
cution of the GUNCL instruction is advanced.
The GUNCL instruction is carried out in advance
for the specified time before reaching the step
immediately before the GUNCL instruction.
An NWAIT tag must be added to the move
instruction of the step immediately before the
GUNCL instruction.
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
Example