Limitations - YASKAWA DX200 Instructions Manual

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

3.1.1 Limitations

3 TCH Macro, One Touch (1TCH) Routine
3.1 Features
The AutoTeach perpendicular mode (Search Type is set to 2) defines a
search motion that is perpendicular to a surface, but for some applications
there may not be enough room to use this detection mode (ie. detecting
the edge of a 6 mm steel plate). During playback of the AutoTeach
perpendicular mode, the robot senses the surface four times, moving an
offset distance between each search. If the size of the surface area is too
small, there may not be enough room for the robot to move the offset
distance between searches. In this case, use the AutoTeach A-to-B mode
(Search Type is set to 1).
The R1-TCH macro provides X, Y, and Z (translational) shift amounts. It
does not provide R , R
X Y
3-2
, and R (rotational) shift amounts.
Z
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