YASKAWA DX200 Instructions Manual page 41

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TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
3 TCH Macro, One Touch (1TCH) Routine
3.5 Programming Instructions
e) Cursor to Robot Position 1. Jog the robot to the desired
seam finding start position (note: the distance between the
Robot Position 1 and the surface of the part defines the
search window, which impacts effectiveness and cycle time)
and press [MODIFY] > [ENTER].
f) Cursor to Robot Position 2. Jog the robot towards surface
desired to detect and press [MODIFY] > [ENTER]. Cursor to
Robot Position 3 and press [MODIFY] > [ENTER] (This
position must be taught, but its exact location will not be
used for surface detection and is never re-taught as a result
of AutoTeach).
g) Set AutoTeach mode to a value of 1. Place the cursor on the
Auto Teach argument and press [SELECT]. Enter 1 and
press [ENTER].
4. Save the argument data in robot job. From the Argument Setting
screen press [ENTER] > [ENTER].
5. Execute the TCH macro. Press [INTER LOCK] +[TEST START].
6. When the part surface is detected, the robot stops and a message is
displayed at the bottom of the teach pendant screen prompting the
user to Modify Robot Pos2; set TEACH to 0.
a) Re-open the Argument Setting Screen.
• Cursor to R1-TCH macro instruction on instruction side of
robot job.
• Press [ENTER] > [ENTER]
b) Cursor to the Robot Position 2 argument and press
[MODIFY] > [ENTER].
c) Set AutoTeach mode to 0.
d) Set Shift Variable to the Point Variable (P variable) number
desired to save the shift data.
e) From the Argument Setting screen, press [ENTER] >
[ENTER].
The 1TCH macro is now ready for playback mode.
Program the weld path using a Shift On (SFTON) instruction. Use the
P-variable number set above.
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