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IRC5 Spotwelding problem

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JK Hwang
JK Hwang
in Robot Controller

Hello,
It's hard to customize to make it work unlike s4c+ spot welding.
Q1) In a program 'auto_reweld:=2;' is inserted but doesn't work.
Only 'SwCloseGun' error is occurred with a gun close status.
How to make it reweld like s4c+'s?


Q2) Spotware remembers last gun open (closehlift & openhlift)situation in IRC5.
To prevent closehlift (when teaching it's very annoying) , we used to input codes for s4c+.
But it doen't work for IRC5. Please find below codes.
How to keep 'openlift' when teaching?


PROC rRetractGun()
Reset g1_close_gun;
IF g1_hlift_open=0 THEN
Reset g1_close_hlift;
OpenHighLift gun1;
Set g1_open_hlift;
WaitDI g1_hlift_open,1;
RETURN;
ENDIF
ENDPROC

BR,


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