YASKAWA DX200 Instructions Manual page 49

HW1481731
3 Operation Procedure
3.3 Operation for Creating Fitting JOB
10. TOUCH operation check 2 (the same operation as (8))
– Move the robot to P2, and click the {Completion of setting} button.
– The message "Operate from PP." appears. Click the {OK} button.
– The [Completion of setting] LED turns ON on the I/F Panel of PP.
– Turn the servo ON by the enable switch of PP, and press the
{START} button on the I/F Panel. The TOUCH operation starts.
– Check that the [Completion of TOUCH] LED does not turn ON. It
means that the sequence has ended while the insertion length did
not reach the threshold.
When the LED turns ON, two cases are possible; Case1: the
workpiece has slipped, or Case2: the workpiece may be in the hole.
Actions to take are as follows:
Case1: increase the holding force of the hand.
Case2: Teach P2 again to the position where the workpiece does
not enter into the hole.
11. The setting of the TOUCH command arguments are completed. Next,
how to set the FIT command is described in the next section. Click the
{FIT} tab.
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