Autoteach - YASKAWA DX200 Instructions Manual

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
5.6
5 EDGE: Edge Finding Routine

5.6 AutoTeach

AutoTeach
As stated previously, the AutoTeach feature defines the exact location of
the Robot Position 2 and Robot Position 3. When AutoTeach is set to
mode 1, the robot detects the exact position for Robot Position 2. When
AutoTeach is set to mode 2, the robot detects the exact position for Robot
Position 3. AutoTeach for EDGE Macro; Pattern Type = 1; Teach mode = 1
is shown in Fig. 5-6) "AutoTeach for EDGE Macro"
Fig. 5-6: AutoTeach for EDGE Macro
Robot Position2
(After AutoTeach1)
Once the initial reference position are taught, the robot detects a new
location for the Robot Position 2 and Robot Position 3 points using
AutoTeach. The location of these positions are displayed in the drawings
below. The exact location of these positions are dependent on the
selected Pattern Type and Step Offset parameters. In general, the
AutoTeach argument will:
• Develop a search direction from Robot Position 1 to the surface of
the part, while ensuring this motion is perpendicular to this surface.
• Develop a search direction from Robot Position 2 to Robot Position 3
that is perpendicular to the first search and perpendicular to the
edge.
5-10
Robot Position1
Robot Position 2
(Initial)
Robot Position 3
(After AutoTeach2)
166153-1CD
166153-1CD
Robot Position 3
(Initial)
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