YASKAWA DX200 Instructions Manual page 109

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TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
9 Target for TCP Update for AccuFast or AccuFast II
9.6 Adjust Settings of ACCUFAST - TCP - UPDATER robot job
4. Change the necessary value for the application.
• LI003
• Pvar# for Saved Tool
• When Executing the robot job in "TRAIN" mode, the current Tool
data is saved to the P variable number. In case there is a need to
recover the previous Tool's value. The to-be-changed Tool
number is set by the parameter "LI002 = Pvar#/OriginalPos Tool
#".
• LI001
• Detected Tool Number
• This is the value to be used in the Macro Manager Programming
pendant application when it prompts the user for the "Updated
Tool Number".
• LI002
• Original Tool Number
• This is the value that will be used in the Macro Manager
Programming pendant application when it prompts the user for
the "Original Tool Number".
• Zero Tool #
• The value of the Tool that contains 0,0,0,0,0,0 data. If a Tool
doesn't contain this data, there will need to be one to be set.
• Set a Tool File to a value of
• X:0
• Y:0
• Z:0
• RX:0
• RY:0
• RZ:0
• Set the variable LI005 to the Tool number used above.
• Fine Point Scaling
• A value of 8mm is recommended.
• This sets the distance that the final edge search routines will be
performed from the corner of the block.
• This value will need to be increased to larger values if AccuFast
or AccuFast II cannot be programmed to project the laser beam
at an angle roughly perpendicular to the surface of the block.
• LI004
• Set the Rapid Input # used for AccuFast or AccuFast II.
• LI000
• Set for user frame.
9-7
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