R1 Circle: Circle Touch Routine; Features; Three Touch Routine; Shift Amount - Center Of Circle - YASKAWA DX200 Instructions Manual

166153-1CD
TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
6

R1 CIRCLE: Circle Touch Routine

6.1

6.1.1 Three Touch Routine

6.1.2 Shift Amount - Center of Circle

6.1.3 AutoTeach Mode

6 R1 CIRCLE: Circle Touch Routine

6.1 Features

Features
The R1CIRCLE macro detects positional deviations for curved (constant
radius) surfaces. A part's center of curvature (i.e. the center of a circle) is
calculated using three detected positions along the surface of the curved
part. These positions are then compared with that of a master part and a
shift amount is calculated. This shift amount is based on the distance
between the center of the master part and the center of the deviated part.
This shift amount is then used to shift all positions programmed to the
surface of the part (i.e. MOVCs).
The R1CIRCLE macro also detects the diameter of the curved surface
and calculates a radial shift amount by comparing this diameter to the
diameter of the master part. This shift amount can be used to shift all
position ss programmed to the surface of the part (i.e. MOVCs) to account
for a change in diameter of the part's surface.
The location of the center of a circle is calculated based on the position of
three macro reference positions. This routine touches three positions of a
recessed (inside) circle. The first touch is made from the center of circle
reference position toward the Robot Position 1. The 2nd and 3rd touches
are perpendicular to the first touch-sensing path and also perpendicular to
the Z direction of the base frame.
Fig. 6-1: Three Touch Routine
Robot Position 2
Initial Programmed Position
Detect Position
Position of Robot Positon in DIA-CALC Macro Instruction
The center of a circle is calculated based on three touches on the circle.
The new center is compared to the center of the programmed master part
and a shift amount is saved to a pre-determined P-Variable.
The AutoTeach macro mode has 3 teach modes for detection of the three
macro reference positions. The user teaches the robot close to the
locations on the wall of a circle and the robot detects these exact
positions.
6-1
Robot Position 1
Robot Position 3
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