Breakdown Of Procedure - YASKAWA DX200 Instructions Manual

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
9.4
9 Target for TCP Update for AccuFast or AccuFast II

9.4 Breakdown of Procedure

 Semi-Automatic
User needs to create a TCP (i.e Tool#1) for AccuFast or AccuFast II while
it is mounted in its original location. This could be done using the
traditional 5 point method. The sensor would then be replaced. The user
would then be required to create a second TCP (i.e. Tool#2) for the sensor
in its new location. Lastly, Macro Manager would need to be ran and the
two Tool Files would be referenced for updating the robot jobs containing
seam finding macro instructions.
 Automatic
A target is used with AccuFast or AccuFast II where a TCP is calculated
and stored into a Tool File. This is done twice - once before the sensor is
taken off and once after the sensor is remounted. The tool files are then
updated (i.e. Tool #1 and Tool #2... the exact Tool File numbers are user
defined). The macro manager is then ran and the two Tool Files are
referenced for updating of the robot jobs' seam finding macro instructions.
Breakdown of Procedure
1. Mount target securely within range of the robot arm.
2. Program a user frame to target.
3. Robot job (ACCUFAST - TCP - UPDATER) programmed to the target
and parameters are set.
4. Run ACCUFAST - TCP - UPDATER in "TRAIN" mode with original
laser mounting condition.
5. Replace/Remount AccuFast or AccuFast II box.
6. Run ACCUFAST - TCP - UPDATER in "CALC" mode.
7. Run macro manager. The job data will automatically be updated.
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