Table Of Contents - YASKAWA DX200 Instructions Manual

1 Introduction ..................................................................................................................................... 1-1
2 Hand Guiding Function ................................................................................................................... 2-1
2.1 Usage Conditions of Hand Guiding Function..................................................................... 2-1
2.2 Overview of Hand Guiding Function .................................................................................. 2-1
2.3 System Configuration of Hand Guiding Function............................................................... 2-2
2.3.1 System Configuration for Using Hand Guiding Device of Handle Type................ 2-4
2.3.2 System Configuration for Using Hand Guiding Device of Grip Type .................... 2-5
2.4 Connection for Hand Guiding Device................................................................................. 2-6
2.5 Connection for Presence Detection Sensor....................................................................... 2-7
2.6 Speed Limiting Function .................................................................................................... 2-8
2.6.1 Setting of Speed Limiting Function ....................................................................... 2-8
2.6.2 Setting Details Upon Shipment............................................................................. 2-8
3 Setup of Hand Guiding Function ..................................................................................................... 3-1
3.1 Filter Setting....................................................................................................................... 3-2
3.2 Setting of Speed Upper Limit ............................................................................................. 3-2
3.3 Setting of Speed Coefficient .............................................................................................. 3-3
3.4 Setting of Operation Angle Limit ........................................................................................ 3-4
3.5 Setting of Area Limit........................................................................................................... 3-5
3.6 Tool Setting........................................................................................................................ 3-6
3.7 Setting of Sensor Mounting Angle ..................................................................................... 3-6
3.7.1 Tool Coordinate System and Sensor Coordinate System .................................... 3-7
3.7.2 Calculating Setting Value of Sensor Mounting Angle ........................................... 3-8
3.7.3 Setting Example of Sensor Mounting Angle ......................................................... 3-9
3.7.4 Setting Confirmation of Sensor Mounting Angle................................................. 3-14
4 Hand Guiding Function Execution Procedures ............................................................................... 4-1
4.1 Execution Conditions of Hand Guiding Function ............................................................... 4-1
4.2 Hand Guiding Function Execution Procedures .................................................................. 4-1
4.3 Job Creation for Hand Guiding Function Execution........................................................... 4-2
4.4 Mode .................................................................................................................................. 4-3
4.4.1 Jog/Inching ........................................................................................................... 4-3
4.4.1.1 Jog Mode................................................................................................. 4-3
4.4.1.2 Inching Mode ........................................................................................... 4-4
4.4.2 Translation/Rotation.............................................................................................. 4-5
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