Operator`s manual

2.9 Spot Welding Instruction
2-268
7. ATT=Anticipation time
The following tag can be added or omitted.
MOVL V=1000 NWAIT    Step 5
SPOT GUN#(1) MODE=2 WTM=5 ATT=0.50
0.5 seconds before the manipulator reaches Step 5, the spot welding sequence starts from the
moment the air gun is short open, and the air gun is full open after the sequence is completed.
Then the manipulator carries out the next step.
No. Tag Explanation Note
7
ATT=Anticipation
time
Specifies the anticipation time for which the exe-
cution of the SPOT instruction is advanced.
The SPOT instruction is carried out in advance
for the specified time before reaching the step
immediately before the SPOT instruction.
An NWAIT tag must be added to the move
instruction of the step immediately before the
SPOT instruction.
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
Example