Basic Characteristics RAPID

SpotL Spot Welding with motion
Example
Arguments
SpotL (SpotLinear) is used in spotwelding to control the motion, gun closure/opening
and the welding process. SpotL moves the TCP linearly to the end position.
SpotL p100, vmax, spot10, gun7, tool7;
This is the only instruction needed to implement a complete welding operation.
The TCP for tool7 is moved on a linear path to the position p100 with the speed
given in vmax. The weld position is always a stop position since the welding is
always performed while the robot is standing still. The gun closes in advance on
it’s way to the position. The welding is started and supervised until finished and
the gun is reopening.
Note. The program continues to execute after the weld has started and is not
blocked until the next order that contains a robot motion. This may be inhibited
by the switch \NoConc (see below).
Spotdata spot10 contains parameters to the welding equipment.
Gundata gun7 contains gun specific weld data.
SpotL ToPoint Speed Spot [\InPos] [\NoConc] [\Retract]
Gun Tool [\WObj]
ToPoint Data type: robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
Speed Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the
tool centre point, the tool reorientation and external axes.
Spot Data type: spotdata
Spot data that is associated with the weld process equipment.
RAPID Reference Manual 14-SpotL-1