YASKAWA DX200 Instructions Manual

Also see for MOTOMAN DX100: Instructions Instruction manual Instructions Instructions Instruction manual

Contents

YASKAWA DX200 Instructions Manual Manual pdf 30 page image

2 Setup and Operation2.4 Job Setup2-7166153-1CD166153-1CDTouchSense, AccuFast,and AccuFast II with MacroJobs2.4 Job SetupEach seam finding macro job incorporates a setup section located at thetop of the macro job (.jbi) program. During robot system setup, this datamay need to be modified depending on the application. It is good practiceto verify these parameter settings when installing a seam findingtechnology (touch sense or AccuFast) into the robot system. At the top ofthe macro job is an area provided for user configuration. This area isbound by “Setup Section...begin”. Do not modify job data outside of thiszone! The macro jobs have the following setup sections:Table 2-1: R1-TCHInstruction ExplanationNOP‘-----------------------------------------‘-----DX-------------------------------- Controller'- --ver.2.0.0 ------------------------- Version'- --Yaskawa America Inc.--------'----Motoman Robotic Div.--------‘----2013May06; TL---------------- Revision Date/Developer‘-----------------------------------------'- For use with Touch Sensing' - and/or 1D laser sensor‘'-----------------------------------------'---- Setup Section ... begin -----'-----------------------------------------‘' LI8 = Robot Number (ie. R1) Set to Robot Number in the system.SET LI008 1‘‘ If using a laser sensor instead Value of Rapid input numberAccuFast is wired to. Set to “0” ifusing touch sense.‘ of touch sense, LI13 = rapid' input # for laser sensor. Set' LI13 to 0 if touch sensing is' usedSET LI013 0'' output door is wired to Output number laser is wired to setto amount of offset desired for AutoTeach units = mm.' SET LI014 21'' LI6 = auto teach offset' SET LI006 10' SET LD000 LI006'' LI0 = non search speed Speed value for robot to use duringair moves. Units mm/sec.max= 3000 of user frame to becreated.SET LI000 3000'30 of 124