YASKAWA DX200 Instructions Manual page 84

5 Monitor Information
– Status display LED
Name
Controller Status Servo ON
3
Force
Control
Fitting Status Detect
4
contact
Completion
of TOUCH
Completion
of FIT
Completion
of INSERT
Status
5
(Horizontal axis: Sampling,
Minimum value of communication
cycle
DX200: 12ms
FS100: 10ms)
5-4
Contents
Servo ON: LED ON,
Servo OFF: LED OFF
Force Control ON: LED ON,
Force Control OFF: LED OFF
Detected: LED ON, Undetected: LED OFF
Insertion length satisfied: LED ON,
Insertion length unsatisfied: LED OFF
Insertion length satisfied: LED ON,
Insertion length unsatisfied: LED OFF
Insertion length satisfied: LED ON,
Insertion length unsatisfied: LED OFF
Status1: Status of MotoFit
• TOUCH operation
10: Approaches to the workpiece with
a constant speed
12: Presses with the specified force
command after contact
14: Ends as the insertion length
reaches the threshold
-12: Ends by timeout before the
insertion length reaches the
threshold
• FIT
20: Running search operation
22: Ends as the insertion length
reaches the threshold
-20: Ends by timeout before the
insertion length reaches the
threshold
• INSERT
30: Running insertion operation
32: Under suspension
34: Running unchoke operation
36: Ends as the insertion length
reaches the threshold
-30: Ends by timeout before the
insertion length reaches the
threshold
Status2: Status of the force sense basic
command
D0: Zero reset starts (0 → 1).
Zero reset completes (1 → 0).
D1: Force control starts (0 → 1).
Force control ends (1 → 0).
D2: Force command starts (0 → 1).
Force command ends (1 → 0).
D3: FDET command starts (0 → 1).
FDET command ends (1 → 0).
D4: Force detection (0 → 1).
Force detection ends (1 → 0).
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