Filter Setting; Setting Of Speed Upper Limit - YASKAWA DX200 Instructions Manual

3 Setup of Hand Guiding Function
3.1

Filter Setting

3.1 Filter Setting
When using the hand guiding function, the robot may repeat unintentional
acceleration or deceleration caused by unstable input value of the force
sensor because of the time differences which occur in starting a robot
operation after applying force by the user or the influence of the force
sensor interlocking with the hand operation.
To avoid this phenomenon, the value which is input by using the filter
function is smoothed.
A filter coefficient can be set by variables.
[Filter Coefficient: Large]
Effect of smoothing: Large, Delay in changing the robot moving speed by
changing force: Large
[Filter Coefficient: Small]
Effect of smoothing: Small, Delay in changing the robot moving speed by
changing force: Small
User variable Variable name
I073 Filter coefficient setting
If the value except for the possible values is input, when the general
output 4081 (#15110) of the hand guiding function enable signal is turned
ON, the following alarm is displayed.
8001: Parameter Setting error, Sub-code: Variable number
3.2

Setting of Speed Upper Limit

An upper limit of the robot moving speed of the hand guiding function can
be set by variables.
User variable Variable name
I087 X limit speed
I088 Y limit speed
I089 Z limit speed
I090 Rx limit speed
I091 Ry limit speed
I092 Rz limit speed
If the value except for the possible values is input, when the general
output 4081 (#15110) of the hand guiding function enable signal is turned
ON, the following alarm is displayed.
8001: Parameter Setting error, Sub-code: Variable number
Possible value
1 - 50
Possible value
0 - 250 [mm/s]
0 - 250 [mm/s]
0 - 250 [mm/s]
0 - 200 [0.1 deg/s]
0 - 200 [0.1 deg/s]
0 - 200 [0.1 deg/s]
3-2
HW1485706
Initial value
50
Initial value
100
100
100
200
200
200
HW1485706
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