YASKAWA DX200 Instructions Manual

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

Contents

YASKAWA DX200 Instructions Manual Manual pdf 15 page image

1 Outline of Function1.3 MotoFit Teach Guidance Function1-5HW1481731HW14817311.3 MotoFit Teach Guidance FunctionIn the parameters of MotoFit function commands, the following valuesshould be set (for details, refer to DX200/FS100 OPTIONSINSTRUCTIONS for MotoFit (HW1481732). Among them, theparameters with the asterisk mark* need to be the values suitable for theshape of workpiece. Follow the guidance, and determine the set value byexecuting the MotoFit command and performing the measurement.(1) TOUCHArg1: Force condition file No.Arg2: Touch force thresholdArg3: Approach speedArg4: Force command valueArg5: Insertion length thresholdArg6: Touch length* (See the right figure)Arg7: After - TOUCH, time - out timeFig. 1-8: TOUCH(2) FITArg1: Force condition file No.Arg2: Force command valueArg3: Insertion length thresholdArg4: Search operation patternArg5: Search force command valueArg6: Search vibration cycle*(See the right figure)Arg7: Search operation start directiondesignationArg8: Search operation timeFig. 1-9: FIT(3) INSERTArg1: Force condition file No.Arg2: Force command valueArg3: Insertion length threshold 1*(See the right figure)Arg4: Insertion length threshold 2*(See the right figure)Arg5: Unchoke operation designationArg6: Unchoke operation force commandArg7: Unchoke operation forcecommand cycleArg8: Unchoke operation start directiondesignationArg9: Unchoke operation timeFig. 1-10: INSERTTouchlengthSearch vibrationcycle (Seach width)Insertionlengththreshold 1Insertionlengththreshold 215/104