YASKAWA DX200 Instructions Manual page 72

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
5 EDGE: Edge Finding Routine
5.6 AutoTeach
3. Follow the displayed instructions by re-opening the EDGE macro
instruction.
a) From the instruction side of the macro instruction, press
[SELECT] > [SELECT].
b) Cursor to the Robot Position 3 parameter and press
[MODIFY] > [ENTER].
c) Cursor to the teach mode parameter and type [SELECT] > 0
> [ENTER].
4. Save the above data to the robot job by pressing [ENTER] > [ENTER].
For this instance of the EDGE macro instruction, teaching is now
complete.
Insert the [SFTON] instruction into the weld job. The Shift On instruction is
located in the [INFORM LIST]> {SHIFT} > {SFTON}. Set the P variable
number to the value used in the previously taught EDGE macro
instruction.
Calculations (combining/partitioning shift amounts) may be
needed in order to develop the necessary shift amount for
NOTE
the weld seam. Such calculations are outside the scope of
this manual. YASKAWA offers training classes that covers
these types of scenarios.
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