YASKAWA DX200 Instructions Manual page 31

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3 Operation Procedure
3.3 Operation for Creating Fitting JOB
2. From now, perform the auto tuning of the force control parameter by
contacting the workpiece, which is held by the robot, with the flat table.
Programming Pendant will be hereinafter referred to as "PP", and the
interface panel "I/F Panel". For the coordinate system, the Coordinate
specified in the Main Menu is selected.
3. Select the Tuning Direction (X+, X-, Y+, Y-, Z+, Z-, Rx+, Rx-, Ry+, Ry-,
Rz+, Rz-). Select the direction to contact with the workpiece as shown
in the figure on the screen.
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