YASKAWA DX200 Instructions Manual

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

Contents

YASKAWA DX200 Instructions Manual Manual pdf 71 page image

3 Operation Procedure3.4 Teach of Force Sense Basic Command3-54HW1481731HW14817313.4 Teach of Force Sense Basic Command3.4.1 Outline of Teach Operation of Force Sense Basic CommandThe outline of the teach operation is shown in the following flow schematicdiagram. For details, refer to the next section. Perform the teachoperation in the Teach mode after the initial settings described in thechapter 3.2 “Setting the IP address” .3.4.2 Details of Teach Operation of Force Sense Basic Command3.4.2.1 Creating JOBThe creating method is explained using an example of JOB to attach atape by pressing with a constant force in the same procedures inchapter 1.4 “Function for Calculation of Force Detection Threshold” .For this JOB, if a protrusion is detected, it's judged as fault and theoperation stops. The JOB is shown as following.Fig. 3-2: Error DetectionStartAutomatic adjustment function offorce control parameterEndFor details, refer to the chapter 3.3.2.13Startup of FSE-Tool1Setting of force condition file2Creating JOB4For details, refer to the chapter 3.3.2.2For details, refer to the chapter 3.3.2.3For details, refer to the chapter 3.4.2.1Threshold setting by data logging5Operation check6For details, refer to the chapter 3.4.2.2For details, refer to the chapter 3.4.2.371/104