Interface - YASKAWA DX200 Instructions Manual

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
4.4
Table 4-3: Argument Settings R1-TCH
Name Description
Auto Teach 0 = off Auto Teach Mode
0 = Auto Teach Off
1 = Auto Teach first surface
2 = Auto Teach second surface
Robot Position1 Start position of search. The distance this
position is placed from the surface(s) of
the part determines the search window.
Robot Position 2 Position the robot moves toward while
searching for the surface of the part.
Robot Position 3 Position taught on second surface.
Search Speed Speed used during search motion. Units
cm/min.
Lap Offset Offset distance from first detected
surface. If set to 0mm, after the robot
detects Robot Position 2, it moves back
to Robot Position 1 before searching
across toward Robot Position 3.
Search Distance Distance past the programmed Robot
Position 2 the robot moves during
search. Units: mm.
Shift Variable P-variable number used to store the
calculated shift amount data.
Search Type Set value to 2 for 2 dimension search.
Rapid Input # Select rapid input to be used.
4 TCH Macro, Two Touch (2TCH) Routine

4.4 Interface

Interface
The R1-TCH macro instruction has the following controls in the argument
setting screen.
Fig. 4-5: Argument Settings R1-TCH (2 Dimension Search)
4-7
Default Allowable Setting Range
Setting
1 0,1,2
UNREGIST UNREGIST, REGIST
UNREGIST UNREGIST, REGIST
UNREGIST UNREGIST, REGIST
150 1-100
0 0-100
25 1-100
10 0-127
0 1 or 2
0 1-5
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