YASKAWA DX200 Instructions Manual page 87

HW1481731
5 Monitor Information
3. Tuning Step 2
The force response during the adjustment of the force control parameters
and the searching status of the damping parameters can be monitored.
– Status display LED
Name
Controller Servo ON
1
Status
Force
Control
Error
Running
2
Tuning Status X,Y,Z,Rx,Ry,
3
(Tuning Step 2) Rz
– Graph waveform
Name
Force
4
(Horizontal axis: Sampling,
Minimum value of communication
cycle
DX200: 12ms
FS100: 10ms)
Tuning Process
5
Horizontal axis: Sampling,
Minimum value of communication
cycle
DX200: 12ms
FS100: 10ms)
5-7
Contents
Servo ON: LED ON,
Servo OFF: LED OFF
Force Control ON: LED ON,
Force Control OFF: LED OFF
With error: LED ON,
Without error: LED OFF
Error No.: Refer to chapter 8.
In process: LED ON,
Process end: LED OFF
Adjustment completed: LED ON,
Adjustment incomplete: LED OFF
Contents
Fref[N,Nm]: Force command to adjustment
direction
Ffb [N, Nm]: Force feedback to adjustment
direction
Damping parameter [Ns/m,Ns]
Frequency of Ffb [count]
Settling time of Ffb [ms]
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