YASKAWA DX200 Instructions Manual page 62

3 Operation Procedure
3.3 Operation for Creating Fitting JOB
6. INSERT operation check
– Move the robot to P1, 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 [Fitting task status] LEDs turn ON. It means that the
workpiece enters into a hole by the TOUCH operation. If the
workpiece did not enter into a hole by the TOUCH operation, all the
LEDs other than the [Completion of TOUCH] turn ON.
7. The workpiece could have been slipped if the Insertion length set on
PC is significantly different from the actual hole depth. Increase the
holding force of the hand.
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