YASKAWA DX200 Instructions Manual page 72

3 Operation Procedure
3.4 Teach of Force Sense Basic Command
1. Teach the initial position P1.
2. Teach the end position P2. Use UNTIL to set the manipulator to stop
when the general output is turned ON. The general input No. is 991
for R1, and 992 for R2.
3. Perform settings of the force condition file as described in the
chapter 3.3.2.2 "Setting Force Condition File" .
4. Add the IMPON command. Set the argument of the IMPON
command.
5. Add the FREF command. Set the argument of the FREF command.
6. Add the FDET command. Modify the Arg1 of the FDET command to 0
(invalid). For the other argument settings, log the data and set the
recommended value. It is explained in the chapter 3.4.2.2 "Threshold
Setting by Data Logging" and later. If the force variations of the normal
and error states are apparently different, the
chapter 3.4.2.2 "Threshold Setting by Data Logging" can be omitted
to set the argument. In that case, set 1 (force detection) or 2 (impulse)
for the Arg1 of FDET, and move on to chapter 3.4.2.3 "Operation
Check" .
7. Add the IMPOFF command.
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