Force Sensor/ I/O Input; Force Sensor Input Mode; I/O Input Mode - YASKAWA DX200 Instructions Manual

4.4.3 Force Sensor/ I/O Input

4.4.3.1 Force Sensor Input Mode

4.4.3.2 I/O Input Mode

4 Hand Guiding Function Execution Procedures
4.4 Mode
The command method to the robot can be selected from the input from the
force sensor and the I/O input such as a switch.
Follow the force sensor input operation mounted on the hand guiding
device to move the robot.
The force sensor input operation mode determines the operation speed of
the robot depending on the force sensor value and the speed coefficient.
(Refer to chapter 3.3 "Setting of Speed Coefficient" .)
Move the robot by operating the input signal for the moving operation.
The enable switch needs to be turned ON also in operation by the I/O
input mode.
The I/O input mode fixes the operation speed of the robot.
(Translation: 50 [mm/s], Rotation: 5 [deg/s])
The signals for the moving operation are as follows.
General input Logical number
4081 #05110
4082 #05111
4083 #05112
4084 #05113
4085 #05114
4086 #05115
4089 #05120
4090 #05121
4091 #05122
4092 #05123
4093 #05124
4094 #05125
4-6
Signal contents
X+ direction operation signal
X- direction operation signal
Y+ direction operation signal
Y- direction operation signal
Z+ direction operation signal
Z- direction operation signal
Rx+ direction operation signal
Rx- direction operation signal
Ry+ direction operation signal
Ry- direction operation signal
Rz+ direction operation signal
Rz- direction operation signal
HW1485706
HW1485706
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