YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

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YASKAWA DX200 Instructions Manual Manual pdf 20 page image

3 Setup of Hand Guiding Function3.1 Filter Setting3-2HW1485706HW14857063.1 Filter SettingWhen using the hand guiding function, the robot may repeat unintentionalacceleration or deceleration caused by unstable input value of the forcesensor because of the time differences which occur in starting a robotoperation after applying force by the user or the influence of the forcesensor interlocking with the hand operation.To avoid this phenomenon, the value which is input by using the filterfunction is smoothed.A filter coefficient can be set by variables.[Filter Coefficient: Large]Effect of smoothing: Large, Delay in changing the robot moving speed bychanging force: Large[Filter Coefficient: Small]Effect of smoothing: Small, Delay in changing the robot moving speed bychanging force: SmallIf the value except for the possible values is input, when the generaloutput 4081 (#15110) of the hand guiding function enable signal is turnedON, the following alarm is displayed.8001: Parameter Setting error, Sub-code: Variable number3.2 Setting of Speed Upper LimitAn upper limit of the robot moving speed of the hand guiding function canbe set by variables.If the value except for the possible values is input, when the generaloutput 4081 (#15110) of the hand guiding function enable signal is turnedON, the following alarm is displayed.8001: Parameter Setting error, Sub-code: Variable numberUser variable Variable name Possible value Initial valueI073 Filter coefficient setting 1 - 50 50User variable Variable name Possible value Initial valueI087 X limit speed 0 - 250 [mm/s] 100I088 Y limit speed 0 - 250 [mm/s] 100I089 Z limit speed 0 - 250 [mm/s] 100I090 Rx limit speed 0 - 200 [0.1 deg/s] 200I091 Ry limit speed 0 - 200 [0.1 deg/s] 200I092 Rz limit speed 0 - 200 [0.1 deg/s] 20020/58