YASKAWA DX200 Instructions Manual

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

Contents

YASKAWA DX200 Instructions Manual Manual pdf 11 page image

1 Outline of Function1.1 MotoFit Function Engineering Support Tool1-1HW1481731HW14817311 Outline of Function1.1 MotoFit Function Engineering Support ToolThe MotoFit function is an application using force control, attaching withthe 6-axis force sensor. It realizes the optimum fit operation by thecombination of commands as “TOUCH (Push of workpiece)”, “FIT(Search)”, and “INSERT (Insertion)” (refer to DX200/FS100 OPTIONSINSTRUCTIONS for MotoFit (HW1481732)).During the force control, the robot moves based on the force condition filein DX200/FS100. On the other hand, during the operation of eachcommand, the robot moves based on the command argument.The MotoFit Function Engineering Support Tool (abbreviated as FSE-Tool) is a tool to support teaching the MotoFit function. It operates on thePC connected with the robot controller.Fig. 1-1: Operation of MotoFit FunctionIn FSE-Tool, operation according to the teach guidance on the PC screenwill create the force condition file and a JOB added MotoFit command.The guidance is mainly on the automatic adjustment of force controlparameters in the force condition file, and argument setting of the MotoFitcommand. The former function is called as the automatic adjustmentfunction of force control parameter, and the latter function is called as theMotoFit teach guidance function. They adjust to the optimum parameterssuitable for the robot configuration or workpiece form and materials inoperation, realizing a precise fit operation. Note that, however,adjustment may be hard to apply to such a workpiece of unstable shapedue to its insufficient hardness.Fig. 1-2: System ConfigurationRealizing fit work by the operation command optimum to the insertion statusTOUCH(Successful) INSERT(Successful)TOUCH(Failed) FIT(Successful)FIT(Failed)INSERT(Failed)6-axis force sensorPC Robot ControllerProgrammingPendant (PP)Robot 6-axisforce sensorMotoFit FunctionThe MotoFitFunctionEngineeringSupport Tool(FSE-Tool) force conditionfile JOBAutomatic Adjustment ofForce Control ParameterArgument setting of MotoFit command(MotoFit teach guidance function)11/104