Accufast Verify Routine (Optional Function; Overview; Appendix C - YASKAWA DX200 Instructions Manual

166153-1CD
TouchSense, AccuFast,
and AccuFast II with Macro
Jobs

Appendix C

C.1
C.1.1 Overview
Appendix C
C.1 AccuFast Verify Routine (Optional Function)

AccuFast Verify Routine (Optional Function)

This a robot job that was written for the user to be able to see AccuFast is
experiencing a "drift" in measurement accuracy. Daily temperature
changes can make the sensor drift up to 8mm. The robot moves the laser
sensor toward a pre - programmed distance - the "focal length" - and
checks to see that the sensor is turning off/on at the expected distance. If
the sensor is not turning off/on at the expected distance, the routine will
stop and prompts the user to: Check that sensor lens is clean. Once the
user clears the alarm and presses start, the routine will automatically
reprogram AccuFast to compensate for the drift amount in the sensor
measurement. This will occur for a total of five times. After five
recalibrations, the next attempt to update will cause the robot to stop and
an alarm will be displayed telling the user to: "Clean sensor lens, press
START" before recalibration will continue.
The number of times that AccuFast is automatically recalibrated is able to
be changed in the SETUP section at the top of the job. Setting this value
to a higher number is not recommended.
1. Place the ACCUFAST-VERIFY-Z-R* job into a robot job. The
ACCUFAST-VERIFY-Z-R* job can be placed anywhere in the robot
programs. Ideally it would be used immediately before or after a
routine torch cleaning routine.
2. Direct open the job (using the [DIRECT OPEN] key).
3. Move the robot over a known, fixed object (i.e. the target used in the
routine in the previous section and move the sensor so that it is
roughly perpendicular to the surface).
4. Cursor to "Step 1" section of the ACCUFAST-VERIFY-Z-R* job and
program the TCH-* macro instruction in "1TCH" routine. Use of the
Auto Teach mode is recommended for this step.
5. Next, cursor to "Step 2" section and re-program the MOV step at the
same position as what was detected as Robot Position 2 in the TCH-*
macro instruction above.
6. Adjust the LD000 parameter to adjust for the allowable detection
amount that the robot will ignore. If the detected deviation is equal or
greater than the value of LD000, the sensor will be recalibrated.
7. Adjust LI000 as the Universal Output use for "Laser On/Off"
recalibration.
8. The job is now ready to be ran in PLAY mode.
C-1
166153-1CD
121 of 124