YASKAWA DX200 Instructions Manual page 85

HW1481731
5 Monitor Information
– Graph waveform
Name Contents
Force Fref(X)[N]: Force command to the X direction
6
Fref(Y)[N]: Force command to the Y direction
(Horizontal axis:
Fref(Z)[N]: Force command to the Z direction
Sampling,
Fref(RX)[Nm]: Force command to the RX direction
Minimum value of
Fref(RY)[Nm]: Force command to the RY direction
communication cycle
Fref(RZ)[Nm]: Force command to the RZ direction
DX200: 12ms
FS100: 10ms) Ffb(X)[N]: Force feedback to the X direction
Ffb(Y)[N]: Force feedback to the Y direction
Ffb(Z)[N]: Force feedback to the Z direction
Ffb(RX)[Nm]: Force feedback to the RX direction
Ffb(RY)[Nm]: Force feedback to the RY direction
Ffb(RZ)[Nm]: Force feedback to the RZ direction
Ffb(XYZ)[N]: Composition of force feedback to the X, Y,
and Z directions
Ffb(RxRyRz)[Nm]: Composition of force feedback to the
Rx, Ry, and Rz directions
During the execution of MotoFit or the force sense basic
command on the JOB, the coordinate system of the force
condition file is displayed. While they are not executed,
the coordinate system of I/F Panel is displayed.
Tool No. is the designated number in the force condition
file.
Pos(X)[mm]: Position of X direction
Position
7
(Horizontal axis:
Pos(Y)[mm]: Position of Y direction
Sampling,
Minimum value of
Pos(Z)[mm]: Position of Z direction
communication
cycle
During the execution of MotoFit or the force sense basic
DX200: 12 ms
command on the JOB, the coordinate system of the force
FS100: 10ms)
condition file is displayed. While they are not executed,
the coordinate system of I/F Panel is displayed.
Impulse Impulse(X)[Ns]: Impulse of Ffb(X)
8
Impulse(Y)[Ns]: Impulse of Ffb(Y)
(Horizontal axis:
Impulse(Z)[Ns]: Impulse of Ffb(Z)
Sampling,
Impulse(RX)[Nms]: Impulse of Ffb(Rx)
Minimum value of
Impulse(RY)[Nms]: Impulse of Ffb(Ry)
communication cycle
Impulse(RZ)[Nms]: Impulse of Ffb(Rz)
DX200: 12 ms
Impulse(XYZ)[Ns]: Impulse of Ffb(XYZ)
FS100: 10ms)
Impulse(RxRyRz)[Nms]: Impulse of Ffb(RxRyRz)
Communication FS100: 10,20,..., 100 ms (increases by10 ms)
9
cycle DX200: 12, 24,...,120 ms (increases by12 ms)
5-5
(coordinate standard at operation start)
(coordinate standard at operation start)
(coordinate standard at operation start)
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