YASKAWA DX200 Instructions Manual page 9

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4.4.2.1 Translation Mode .................................................................................... 4-5
4.4.2.2 Rotation Mode ......................................................................................... 4-5
4.4.3 Force Sensor/ I/O Input ........................................................................................ 4-6
4.4.3.1 Force Sensor Input Mode........................................................................ 4-6
4.4.3.2 I/O Input Mode ........................................................................................ 4-6
4.5 Calibration of Force Sensor ............................................................................................... 4-7
4.6 Register Output Function................................................................................................... 4-8
5 Risk Assessment ............................................................................................................................ 5-1
5.1 Assumed Risk.................................................................................................................... 5-1
5.2 Risk Reduction Measures.................................................................................................. 5-2
6 User Variables and General I/O Signals to be Used with Hand Guiding Function ......................... 6-1
6.1 User Variable List .............................................................................................................. 6-1
6.2 General I/O Signal List....................................................................................................... 6-3
6.3 Ladder Program................................................................................................................. 6-4
7 Troubleshooting .............................................................................................................................. 7-1
7.1 Robot Operating Method when Force Sensor Disconnected ............................................ 7-1
7.1.1 Disabling Force Sensor ........................................................................................ 7-1
7.1.2 Enabling Force Sensor ......................................................................................... 7-4
7.2 Robot Operating Method When Hand Guiding Device Disconnected ............................... 7-7
7.3 Troubleshooting ................................................................................................................. 7-8
8 Alarm List ........................................................................................................................................ 8-1
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