YASKAWA DX200 Instructions Manual page 61

HW1481731
3 Operation Procedure
3.3 Operation for Creating Fitting JOB
– Set the threshold so that the output insertion length is within the
range of thresholds 1 and 2, in consideration of the variance. When
the sequence stops during the insertion operation, increase the
Force command value. If the workpiece still does not reach the
bottom of the hole, set the Unchoke Pattern to OMNI.
5. INSERT operation check
– Move the robot to P3, and click the {Completion of setting} button.
– The message "Operate from PP." appears. Click the {OK} button.
– The [TOUCH COMP SET] LED, the [FIT COMP SET] LED, and the
[INSERT COMP SET] LED turn 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. Operations of TOUCH, FIT, and
INSERT start.
– Check that the [Completion of INSERT] LED turns ON. It means
that the insertion length reaches the threshold and the sequence
ends.
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