Setup Macro Instruction And Detect Robot Position 1 - YASKAWA DX200 Instructions Manual

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs

6.5.1.1 Setup Macro Instruction and Detect Robot Position 1

6 R1 CIRCLE: Circle Touch Routine
6.5 Programming
1. Cursor to Auto Teach. Enter 1 in the input field and press [ENTER].
2. Teach the initial positions for the three Robot Positions.
a) Jog the robot to the approximate position of Robot Position
1 in the diagram below.
b) Cursor to Robot Positions in the argument setting screen
and press [MODIFY] > [ENTER].
Refer to Fig. 6-4 for proper programming locations when programming
Robot Positions inside circles.
Fig. 6-4: Reference Positions for Inside Diameter
Robot Position 2
Initial Programmed Position
Detect Position
Position of Robot Positon in DIA-CALC Macro Instruction
Refer to Fig. 6-5 for proper programming locations when programming
Robot Positions outside circles.
Fig. 6-5: Robot Positions for Outside Diameter
Robot Position 2
Robot Position 1
Position of Robot Positions in DIA-CALC Macro Instruction
c) Jog the robot to the approximate position for Robot Position
2 (see diagrams above).
d) Cursor to the Robot Position 2 and press [MODIFY] >
[ENTER].
e) Jog the robot to the approximate positions of Robot Position
3 of the circle.
f) Cursor to Robot Position 3 in the argument setting screen
and press [MODIFY] > [ENTER].
6-8
Robot Position 1
Robot Position 3
Initial Programmed Position
Detect Position
Robot Position 3
166153-1CD
166153-1CD
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