YASKAWA DX200 Instructions Manual page 32

3 Operation Procedure
3.3 Operation for Creating Fitting JOB
4. Input the force command value. Input the approximate force value to
be used for the fit operation. Input both translational force and
rotational force values ([Reference Force] and [Reference Moment]).
For a metal workpiece fit operation, for example, typical values are 20
[N] for [Reference Force] and 0.5 [Nm] for [Reference Moment]. Note
that however, alarm of excessive force may be issued according to the
combination of force command value and tool length. (Especially for
the force sensor of rated value of 200 N, it may be regarded as an
excessive force of the moment.) In this case, decrease the force
command value.
5. Move the robot to the adjustment start position. It is the position just
before the workpiece is to be contacted. Refer to the figure on the
screen. Perform the adjustment in the Teach mode and PC mode (I/F
Panel). The followings are the example of adjustment directions Z-
and Ry+ in the robot coordinate. For the adjustment of rotational
direction, contact the side of workpiece.
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