KR20040108127A - Apparatus For Controlling A Servogun Exclusively And Its Method - Google Patents

Abstract

PURPOSE: A servo gun control device and a method thereof are provided to interface the external devices actively, and to prevent the plate from bending by detecting the wear of the electrode tip with the servo motor. CONSTITUTION: A servo gun control device(10) comprises a timer interface(13) interfacing a timer(20) regulating welding current flowing into electrodes(52,53) of a servo gun(50); a servo drive interface(14) interfacing a servo drive(30) to move the movable electrode back and forth; a robot controller interface(15) interfacing a robot controller(40) to control movement of a robot gun or a welding system; a digital/analog converting unit(11) commanding the speed and the torque to the servo drive directly controlling a servo motor(51) of the servo gun; an analog/digital converting unit(12) digitalizing the torque monitor signals from the servo drive; and a control unit(16) welding the work piece with the servo gun by controlling the interfaces and the converting units.

Description

Apparatus For Controlling A Servogun Exclusively And Its Method

The present invention relates to a dedicated control device for a servo gun using a servo motor as a pressurization source rather than a cylinder pressurization method using air pressure during resistance spot welding.

At present, resistance spot welding is widely used in automobile body lines and many production sites. However, due to the impossibility of real-time control of the pressing force generated in the conventional pressurization apparatus using the air pressure, invariable stroke, and long pressurization stabilization time, the pressurization apparatus using the air pressure has been changed to a pressurization system using a servo motor. .

On the other hand, in the case of using a pressurized system using the servo motor as described above, a dedicated control device for controlling the servo gun including the servo motor is required, and the servo gun control device is an external device. A smooth interface between the in-timer and the external host control device (robot control device) must be established.

However, at present, there is a problem in that a vehicle body line is dependent on a robot control device because a servo gun control device capable of implementing a smooth interface with the external devices has not been developed.

In addition, in the case of automobile body lines, there is a problem that the deformation of the plate can occur due to the change in the spot position due to the wear of the electrode tip of the servo gun, in order to prevent this, there is a need for a servo gun control device for detecting electrode tip wear. It's happening.

Hereinafter, the conventional resistance spot welding system will be briefly described.

First, contents related to an interface with external devices will be described.

That is, FIG. 1A is a sequence diagram of one embodiment of a conventional pneumatic resistance spot welding system. In the conventional resistance spot welding system, an external robot control device selects a start signal and a valve selected from a manual switch in a manual gun The signal is transmitted to the CPU of the current control device (timer) through an interface terminal, and the timer uses the solenoid opening signal to the cylinder connected to the robot gun or the stationary pressurization device.

In response, the cylinder presses the substrate with a constant force according to the pressure of the compressed air, and the timer flows the welding current according to the programmed sequence. After that, the timer removes the solenoid open signal again so that the electrode is completely open.

On the other hand, in configuring a pressurization device using a servo motor instead of the pneumatic pressurization device as described above, the timer, which is a conventional current control device, must simultaneously control the welding current control and the servo motor, but simultaneously controls the welding current control and the servo motor. Timer that is not developed yet.

In addition, when the pressurization device using the servo motor is configured in the robot gun, since there is no special control device for the servo gun, the servo gun control device is used to handle the robot control device by adding one more axis to the robot control device. In addition, since the operation sequence must be input for all the robot control devices, there is a problem that human time can be wasted.

In addition, there is a problem that can not actively cope with changes in the specifications of the servo gun.

Next, the contents related to electrode tip wear will be described.

That is, Figure 1b is an exemplary view showing the deformation of the plate due to the wear of the electrode tip, showing a deformation of the plate for the electrode tip wear that can occur in the pressurized robot gun using a general servo motor, as shown in the drawing Due to the variable welding position of the robot gun itself with respect to tip wear, it can be seen that the plate is severely deformed.

In this regard, in the case of automobile lines, welding is performed by matching the robot gun to the welding position and pulling it in the direction of the moving electrode, which also cannot avoid unwanted deformation of the sheet and also has variable electrode tip wear. There is a problem that active coping is impossible. That is, in order to solve the above problems, there should be a servo gun control device that can avoid unwanted deformation of the plate by determining the amount of wear on the electrode tip and letting the robot control device know. It is not losing.

Next, in the method previously used for the series selection signal by the start switch, the series selection signal attached to the start switch is varied to select welder timer series information (15 series and 32 series) for each spot. Could. However, since the three resistance welding points are pressing force, welding current, and welding time, there is a problem in that pressing force must be added with different conditions according to welding spots. In addition, it combines random mode and sequential mode method that operates regardless of series information of start switch by scheduling the RBI information in order to select and transmit the series so that the user can select and use the series more conveniently. The need for a dedicated servo gun control device is emerging.

In addition, it has a more general purpose by combining the slave start mode that receives the welding start signal from the external device with the servo gun control device and the master function that receives the signal input from the external start switch. There is also a need for a servo gun control device.

The present invention is to solve the above problems, in the resistance spot welding system, while controlling the servo gun using the servo motor as the pressurizing device, it is possible to perform a smooth interface with other external devices, robot gun It is an object of the present invention to provide a servo gun control apparatus and a method for detecting the wear of the electrode tip to avoid the bending of the unwanted plate when using the servo motor.

In addition, the present invention can perform a more convenient welding process by the operation of the start switch mounted on the servo gun, and has a slave mode and a master mode for implementing a flexible operation with external devices. The purpose is to provide a servo gun control device.

1A is a sequence diagram of one embodiment of a conventional pneumatic resistance spot welding system.

Figure 1b is an exemplary view showing the deformation of the plate by the electrode tip wear.

Figure 2 is an embodiment configuration of a welding system including a servo gun control device according to the present invention.

Figure 3 is an embodiment process diagram of a vehicle production line to which the present invention is applied.

4A is a flowchart illustrating an interface method with external devices of the servo gun control apparatus according to the present invention;

Figure 4b is a flow diagram of an embodiment of the electrode tip wear detection method of the servo gun control device according to the present invention.

5 is a diagram illustrating an embodiment of a stationary welding system including a servo gun applied to the present invention.

6a and 6b is an embodiment configuration of a manual portable gun applied to the present invention.

7A is an exemplary view showing a master function of a servo gun control device according to the present invention.

Figure 7b is an exemplary view showing a slave function of the servo gun control device according to the present invention.

The present invention for achieving the above object in the servo gun control device 10 applied to the welding system using the servo motor 51 as a pressure source, flowing to the electrodes 52, 53 of the servo gun 50 A timer interface 13 for interfacing with a timer 20 for controlling the welding current; A servo drive interface 14 for interfacing with the servo drive 30 for moving the moving electrode 53 of the servo gun back and forth; A robot control device interface (15) for interfacing with a robot control device (40) for controlling movement of the robot gun (41) or stationary welding system (70) on which the servo gun is mounted; A digital / analog (D / A) converter (11) for giving a speed and torque command to the servo drive (30) for directly controlling the servo motor (51) of the servo gun; An analog / digital (A / D) converter 12 for digitizing the torque monitor signal output from the servo drive 30; And a control unit 10 for allowing welding to the object to be welded using the servo gun 50 by controlling the interfaces 13, 14, 15 and the converters 11, 12. do.

In addition, the present invention is a servo gun control method applied to a servo gun control device of a welding system using the servo motor 51 as a pressurization source, the robot control device interface when the to-be-welded object is located in the correct position. A first step of receiving a start signal from the robot control apparatus 40 through 15 and transmitting a servo on signal and a forward speed command to a servo drive connected to a servo drive interface 14; A second step of receiving a pulse signal from the servo drive 30 and transmitting a torque signal to the servo drive 30; A / D conversion of the torque monitor signal output from the servo drive 30 is performed by the A / D converter 12 to determine whether the preset torque is reached, and when the preset torque is reached, the welding is started by the timer 20. Transmitting a signal; And a retreat speed command and a servo-off signal are applied to the servo drive 30 after receiving the welding completion signal from the timer 20, and an operation end signal is applied to the robot controller 40. And a fourth step of returning health to the standby (S1) state position.

In addition, the present invention is a servo gun dedicated control method applied to the servo gun dedicated control apparatus of the welding system using the servo motor 51 as a pressure source, the servo drive interface ( A first step of transmitting a servo on (SERVO_ON) signal and a forward speed command to the servo drive 30 connected to 14); A second step of A / D converting the torque monitor signal output from the servo drive 30 to determine contact or non-contact and then transmitting a retraction speed command to the servo drive 30 upon contact; Counting a pulse output from the servo drive (30) until the moving electrode (53) contacts the rear fixed end; A fourth step of transmitting a forward speed command to the servo drive 30 when the moving electrode 53 contacts the fixed end to position the moving electrode at a predetermined position, and transmitting a servo-off signal to the servo drive; And when the pulse counted in the third step is larger than the reference pulse, wear of the electrode tip is determined to be worn by the electrode tip 54 and the robot control device 40 connected to the outside through the robot control device interface 15. And a fifth step of providing information.

That is, the present invention is to provide a servo gun control device capable of a flexible interface with external devices during resistance spot welding using a servo motor.

In addition, the present invention is to provide a servo gun control device that can implement the operation sequence for detecting the electrode tip wear when the resistance point welding using a servo motor and can be applied to the actual production line.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a configuration diagram of a welding system including a servo gun control apparatus according to the present invention. As shown in the drawing, the servo gun 50 is connected to the tip of the robot gun 41. The robot control device 40 for controlling the robot gun, the servo drive 30 for controlling the motor 51 of the servo gun, and the timer 20 for controlling the transformer 56 of the servo gun are provided in the present invention. It is connected to the servo gun dedicated control device 10 according to.

At this time, the servo gun 50, as shown in the figure, for driving the moving electrode 53, fixed electrode 52, electrode tip 54, transformer 56 and the moving electrode The servo motor 51 is comprised.

In addition, the servo gun dedicated control apparatus 10 includes a timer interface 13 for smooth interface with the timer 20, a servo drive interface 14 for smooth interface with the servo drive 30, and the robot control. A robot control device interface 15 for smooth interface with the device 40 and a D / A (digital / analog) converter for giving speed and torque commands to the servo drive 30 that directly controls the servo motor 51. (11), an A / D (analog / digital) converter 12 for digitizing the torque monitor signal output from the servo drive is configured.

3 is a process diagram of an automobile production line to which the present invention is applied. As shown in the drawing, a servo gun 50 including a servo motor 51 is attached to the tip of the robot gun 41. Hereinafter, the process illustrated in FIG. 3 will be described in turn.

First, the waiting step S1 is a step of waiting in the state in which the object to be welded 90 is not approached, and is a step of preparing the dressing and welding work of the electrode tip 54.

Next, in the approaching step (S2) in which the welded object is positioned in the correct position, the welded object is positioned in the welding position where the robot gun 50 is weldable.

Next, the robot controller 40 causes the servo gun 50 to match the programmed spot position. This is a welding preparation step (S3) to the teaching unit (TEACHING UNIT) connected to the robot control unit in advance to store the spot position information on the spot position, and when the to-be-welded object arrives, the robot 41 is positioned at the programmed position. .

Next, as the welding step (S4), the robot control apparatus 40 outputs a welding start signal to the timer 20 after receiving the position completion output.

Next, as the welding completion step (S5), the timer 20 flows a welding current according to the programmed welding sequence and outputs a welding completion signal to the robot control apparatus 40.

Finally, as the retraction step S6, the robot control apparatus 40 positions the servo gun in the standby position, and switches to the standby state S1 waiting for another to-be-welded object.

Meanwhile, the operation of the servo gun control apparatus 10 according to the present invention will be described below with reference to FIGS. 4A and 4B.

4A is a flowchart illustrating an interface method with external devices of the servo gun control apparatus according to the present invention.

That is, when the to-be-welded object approaches and is located in the correct position, the control unit 16 of the servo gun control device 10 inputs a start signal from the robot control device 40 via the robot control device interface 15. In step 402, the welding sequence is selected, and the servo on signal 30 is transmitted to the servo drive 30 connected to the servo drive interface 14 (404).

Thereafter, the servo gun control apparatus 10 transmits a forward speed command to the servo drive 30, and the servo drive 30 receiving the input of the servo gun 30 transmits a forward signal to the servo motor 51 (406).

At this time, the servo drive 30 divides the pulse signal output from the incremental encoder attached to the servo motor 51 and transmits the pulse signal to the servo gun control device 10 (408). The control unit 10 for receiving the servo gun compares the stored position information with the stored position information 410 and transmits the stored set torque signal to the servo drive 30 when it is satisfied (412).

Thereafter, the A / D conversion unit 12 converts the torque monitor signal output from the servo drive 30 to determine whether the preset torque is reached (414).

When the set torque is reached, a welding start signal is output (416) to the timer 20 connected to the timer interface 13, and the timer 20 outputs a transformer energization signal to the TR (transformer) 56 attached to the servo gun. Will be done.

After all the welding work is performed, the timer 20 transmits a welding completion signal to the servo gun control device 10 (418), and the servo gun control device 10 receives the input signal to the servo drive interface 14. The retracting speed command is applied to the connected servo drive 30 and counted by a designated pulse to position the moving electrode 33 of the servo gun at a predetermined position.

Subsequently, the servo gun control device 10 applies a servo off signal (SERVO_OFF) to the servo drive 30 (420), and the operation ends (OP_END) to the robot control device 40 connected to the robot control device interface 15. ) Apply a signal.

The robot control device 40 received this input returns the servo gun to the standby (S1) state position (422), so that all welding work is completed.

The operation process is not limited to the resistance spot welding process using the general robot gun 41. That is, it may include not only the robot control device 40 but also a PLC, which is a general higher control device, or another higher control device.

On the other hand, in the above description of the contents related to the interface with the external devices during the operation of the servo gun control device 10, the electrode tip wear detection in the servo gun control device 10 with reference to Figure 4b below. I will explain the process. That is, in the resistance point welding process using the above-described robot gun, the servo gun fixed electrode 52 and the moving electrode 53 in the standby state S1 waiting at the position until the object to be welded approaches. A process for detecting electrode tip 54 wear located at will be described.

Figure 4b is a flow chart of an embodiment of the electrode tip wear detection method of the servo gun control device according to the present invention.

In the standby state S1 to which the to-be-welded object is not approached, the servo-on signal is transmitted to the servo drive 30 connected to the servo drive interface 14 through the process and the initialization 502 of the subroutine function ( 504).

At the same time, the forward speed command is transmitted to the servo drive 30 until the moving electrode 53 contacts the fixed electrode 52 connected to the front end (506).

At this time, the servo gun dedicated control apparatus 10 determines the contact or non-contact by A / D conversion of the torque monitor signal output from the servo drive 30, and then retracts the speed command to the servo drive 30 upon contact. It will be transmitted (510).

Subsequently, the servo gun control apparatus 10 counts the pulse output from the servo drive 30 until the moving electrode 53 contacts the rear fixed end (512).

After determining that the moving electrode 53 has contacted the fixed end (514), the servo gun control apparatus 10 transmits the forward speed command to the servo drive 30, and then places the moving electrode at a fixed position (516).

Subsequently, the controller 16 of the servo gun control device 10 applies the servo OFF signal to the servo drive 30 (518), and compares the total pulse with the predetermined reference pulse (520). If the total pulse is more than the reference pulse, it is determined that the electrode tip wears and the data is notified to the robot control device 40 connected to the outside through the robot control device interface 15 using 4BIT code or communication ( 522)).

On the other hand, the above process is not limited to the resistance point welding process using the robot gun 41 as described above, the electrode tip wear 54 with the external device corresponds to all important resistance point welding process.

5 is a configuration diagram of an embodiment of a stationary welding system including a servo gun applied to the present invention.

That is, the stationary welding system shown in FIG. 5 is another type of welding system that can use the servo gun control device according to the present invention. Unlike the welding system shown in FIG. 2, the servo gun is a robot gun 41. You can see that it is not connected to). Meanwhile, in FIG. 5, only the servo gun control device 10, the timer 20, the external device 40, and the servo drive 30 as shown in FIG. 2 are omitted. The principles operated by the health only control device 10 apply equally. At this time, welding is started by the switch 71.

6A and 6B are diagrams illustrating one embodiment of a manual portable gun to which the present invention is applied, showing another form of the servo gun that can be operated by the servo gun control apparatus according to the present invention. That is, the servo gun shown in FIGS. 2 and 5 is mounted on the robot gun 41 or mounted on a stationary lathe, but the servo gun 60 shown in FIG. 6A is separated to be movable. There is no restriction in place.

6A, only the drawings for the servo gun control device 10, the timer 20, the external device 40, and the servo drive 30 as shown in FIG. 2 are omitted. The principles operated by the health only control device 10 apply equally.

In this case, the manual portable gun 60 illustrated in FIG. 6A may include a series selection switch 63 attached to the external start switch 61, a selected series signal as an external device 40, and a timer as illustrated in FIG. 6B. 20) and an operation switch 62 for transmitting to the servo gun control device 10, and a start power switch 64 for applying power to the start switch 61.

That is, in the case of the manual portable gun 60 as shown in FIGS. 6A and 6B, the worker is positioned at a suitable spot position for the welding base material and the operator turns ON the start power switch 64 connected to the start switch 61. After the portable gun 60 is positioned at the correct RBI position, various types of RBIs are applied to each RBI according to the series information input to the servo gun control device 10 in advance. The series selection switch 63 attached to 61 is selected as an appropriate series and then the OPERATING switch 62 is pressed. Subsequently, the servo gun control device 10 retreats by a predetermined stroke after the welding is performed in accordance with the method described above.

At this time, the operator selects a random (RANDOM) mode and a sequential mode of the servo gun control device 10. In the random (RANDOM) mode, a pre-programmed sequence according to a sequence selection signal attached to the start switch 61 is used. Retrieve information and perform welding. In addition, in the sequential mode, the operator inputs the sequential schedule number after selecting the sequential mode of the servo gun control device 10 in advance, and when the OPERATING switch 62 is turned on, the scheduled sequence number is called up. Welding will be performed.

That is, in the case of the portable gun, the series selection switch of the external start switch 61 is input after inputting each series information such as point information (pressure force, pressurization time, welding series, and retraction stroke) of each RBI to the servo gun control device 10. By using the 63, the user selects a series suitable for each RBI and transmits it to the servo gun control device 10, thereby ensuring more accurate welding and welding quality for each RBI.

FIG. 7A is an exemplary view showing a master function of the servo gun control device according to the present invention, and FIG. 7B is an exemplary view showing a slave function of the servo gun control device according to the present invention. .

That is, in the present invention, the operation mode of the servo gun control device 10 can be divided into a master (FIG. 7A) and a slave (SLAVE) (FIG. 7B) mode, and the master (MASTER) mode (FIG. 7A). In the case of receiving a start signal transmitted from the outside, the servo gun dedicated control device 10 is applied to the external timer and outputs the operating (OPERATING) completion signal to the outside, the slave (SLAVE) mode (Fig. 7b) The external control device receives the start signal transmitted from the external control device to the servo gun dedicated control device 10 and the servo gun dedicated control device 10 outputs the base material contact signal to the external control device to receive the external control device. (40) applies a welding start signal to a timer which is a current control device, and when welding is completed, welding is performed by receiving a welding completion signal from the timer and transmitting the welding completion signal to the servo gun control device 10 again. It means.

That is, by dividing the operation mode of the servo gun control device 10 as described above, a more flexible interface with various types of external devices is possible.

The present invention is not limited to the embodiments described above, but can be variously modified and changed by those skilled in the art, which are included in the spirit and scope of the present invention defined in the appended claims.

Servo gun control device according to the present invention as described above has an excellent effect that can implement a flexible interface with the external device when the resistance point welding pressurization device configuration using a servo motor.

In addition, the present invention can be applied without modification and security to the equipment used in the prior art when configuring a servo gun using a servo motor, there is an excellent effect that can prevent human, time waste.

In addition, the present invention has an excellent effect that it can be used universally in the pressurization device using all servo motors by providing the input and output and program sequences flexibly to the user's requirements.

In addition, the present invention provides an excellent effect that the subroutine function for detecting electrode tip wear can provide accurate data on electrode tip wear to the robot control device, thereby providing an improvement in welding quality by preventing unwanted deformation of the plate. have.

In addition, the present invention is able to apply the correct pressing force and welding current for each spot by adding the function to select and transmit the series signal to the external start switch, and by adding a convenient random (RANDOM) function and the sequential mode function There is an effect that can be conveniently used by the user.

Claims (8)

In the servo gun control device 10 applied to a welding system using the servo motor 51 as a pressurization source, A timer interface 13 for interfacing with a timer 20 for controlling welding current flowing to the electrodes 52 and 53 of the servo gun 50; A servo drive interface 14 for interfacing with the servo drive 30 for moving the moving electrode 53 of the servo gun back and forth; A robot control device interface (15) for interfacing with a robot control device (40) for controlling movement of the robot gun (41) or stationary welding system (70) on which the servo gun is mounted; A digital / analog (D / A) converting unit (11) for giving a speed and torque command to the servo drive (30) which directly controls the servo motor (51) of the servo gun; An analog / digital (A / D) converter 12 for digitizing the torque monitor signal output from the servo drive 30; And A control unit 10 for allowing welding to the welded object to be performed using the servo gun 50 by controlling the interfaces 13, 14, 15 and the converters 11, 12. Servo gun control device. The method of claim 1, The servo gun (50) is a servo gun control device, characterized in that the portable gun (60), which is mounted on the robot gun (41), mounted on the stationary welding system (70) or movable. The method of claim 2, The controller 16 requests a user according to a sequence signal selected from a sequence selection switch 63 for applying different welding sequences for each spot in the external start switch 61 of the portable servo gun 60. Servo gun control device, characterized in that for welding in the random (RANDOM) mode and sequential mode. The method of claim 1, The control unit 16, The robot control device 40, the timer 20, and the servo drive 30 are driven in the standby state S1 without the to-be-welded material, and thus, the robot control device 40, the timer 20, and the servo drive 30 are driven. Servo gun control device, characterized in that for detecting the wear state of the electrode tip (54) and transmits the information to the robot control device (40). The method according to any one of claims 1 to 4, The operation mode of the control unit 16, Servo gun control device, characterized in that divided into master (MASTER) mode and slave (SLAVE) mode. In the servo gun control method applied to the servo gun control device of the welding system using the servo motor 51 as the pressure source, When the to-be-welded object is approached and located in the correct position, the robot controller 30 is connected to the servo drive 30 connected to the servo drive interface 14 by receiving a start signal from the robot control device 40 through the robot control device interface 15. transmitting a (servo_on) signal and a forward speed command; A second step of receiving a pulse signal from the servo drive 30 and transmitting a torque signal to the servo drive 30; A / D conversion of the torque monitor signal output from the servo drive 30 is performed by the A / D converter 12 to determine whether the preset torque is reached, and when the preset torque is reached, the welding is started by the timer 20. Transmitting a signal; And After receiving the welding completion signal from the timer 20, the servo drive 30 receives a retraction speed command and a servo off signal, and an operation end signal is applied to the robot control device 40 to provide the servo gun. 4th step to return to the standby (S1) state position Servo gun dedicated control method comprising a. The method of claim 6, A fifth step of transmitting a servo on (SERVO_ON) signal and a forward speed command to the servo drive 30 connected to the servo drive interface 14 in the standby state S1 not to be welded; A sixth step of A / D converting the torque monitor signal output from the servo drive 30 to determine contact or non-contact and transmitting a retraction speed command to the servo drive 30 upon contact; A seventh step of counting the pulse output from the servo drive (30) until the moving electrode (53) contacts the rear fixed end; An eighth step of transmitting a forward speed command to the servo drive 30 when the moving electrode 53 contacts the fixed end to position the moving electrode at a predetermined position and transmitting a servo-off signal to the servo drive; And When the pulse counted in the seventh step is larger than the reference pulse, the electrode tip is worn on the robot control device 40 connected to the outside through the robot robot control device interface 15 by determining that it is the labyrinth of the electrode tip 54. 9th step of providing information Servo gun dedicated control method further comprising. In the servo gun control method applied to the servo gun control device of the welding system using the servo motor 51 as the pressure source, A first step of transmitting a servo on (SERVO_ON) signal and a forward speed command to the servo drive 30 connected to the servo drive interface 14 in the standby state S1 to which the workpiece is not approached; A second step of A / D converting the torque monitor signal output from the servo drive 30 to determine contact or non-contact and then transmitting a retraction speed command to the servo drive 30 upon contact; Counting a pulse output from the servo drive (30) until the moving electrode (53) contacts the rear fixed end; A fourth step of transmitting a forward speed command to the servo drive 30 when the moving electrode 53 contacts the fixed end to position the moving electrode at a predetermined position, and transmitting a servo-off signal to the servo drive; And When the number of pulses counted in the third step is greater than the reference pulse, wear of the electrode tip is determined on the robot control device 40 connected to the outside through the robot robot control device interface 15 by determining that the electrode tip 54 is a labyrinth. 5th step of providing information Servo gun dedicated control method comprising a.