YASKAWA DX200 Instructions Manual page 89

HW1481731
5 Monitor Information
– Graph waveform
Name Contents
Force Fref(X)[N]: Force command to the X direction
4
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
Position Pos(X)[mm]: Position of X direction
5
(Horizontal axis:
Pos(Y)[mm]: Position of Y direction
Sampling,
Minimum value of
Pos(Z)[mm]: Position of Z direction
communication cycle
DX200: 12ms
FS100: 10ms)
State transition •
6
(Horizontal axis:
Sampling,
Minimum value of
communication cycle
DX200: 12ms
FS100: 10ms)
•
•
5-9
(coordinate standard at operation start)
(coordinate standard at operation start)
(coordinate standard at operation start)
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
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