Correction Direction; Tool Coordinate - YASKAWA DX200 Instructions Manual

Sensor Function
3.2

3.2.1 Tool Coordinate

3 Real-time Path Correction Function

3.2 Correction Direction

Correction Direction
The direction in which the path is to be corrected can be determined in the
following three ways.
• Tool coordinate
• Forward direction
• Optional direction
The correction from the sensor is executed on the coordinates specified
by ACORON and SACORON instructions (real-time path correction start
instructions).
The correction is performed using a tool mounted on the wrist flange of the
manipulator as a reference point. Select one of the following three
directions; the X-axis direction, the Y-axis direction, or the Z-axis direction.
Correction Direction
X-axis direction
Y-axis direction
Z-axis direction
3-3
Sensor Input Channel
(specify at registration of instruction)
CH1
CH2
CH3
X-axis
(CH1)
Z-axis
(CH3)
HW1482281
165472-1CD
Y-axis
(CH2)
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