YASKAWA DX200 Instructions Manual page 110

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
5. Set the User Frame number used above in the first section of the
instructions.
6. Program the three areas where the search motion will take place on
the block. User will program an approach point and the three Robot
Positions of the R1-EDGE macro instruction for each of the three
areas.
• Use the same orientation of the laser sensor to the robot
Base Frame for all three R1-EDGE macro instruction
instances. DO NOT CHANGE R
jogging robot to the 9 positions inside the three R1-
EDGE macro instructions.
• Take care when Robot Position 2 is programmed for
each of the three R1-EDGE macro instructions. Make
sure the Robot Position 2 are programmed far enough
from the edge of the block so that after the sensor is
remounted that the sensor is still pointing at the
horizontal surface of the block when it moves towards
Robot Position 2.
• Recommended settings for the R1-EDGE macro
instructions include:
– Set the Rapid Input # used for AccuFast or AccuFast II
– Search Speed - 100 cm/min
NOTE
–Keep this search speed slow for optimum accuracy.
– Depth - 25mm
–Smaller values are better for calculated accuracy,
but too small of a value may lead to variability in
detection.
– Search Distance - 25mm
–This should be set to a value greater than the
expected deviation between the old and new
AccuFast or AccuFast II locations.
• For optimum accuracy, the AccuFast or AccuFast II
laser beam should be programmed as close to
perpendicular to the surface of the part as possible. If
perpendicular is not possible, the value of the 'Fine Point
Scaling' parameter (located in the SETUP section of the
Robot Job) may need to be increased from the factory
default setting.
9-8
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