YASKAWA DX200 Instructions Manual page 82

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
6 R1 CIRCLE: Circle Touch Routine
6.5 Programming
h) Set the Outside=0, Inside=1 parameter to the value correct
for the part being programmed.
If programming an inside circle, where the robot positions
are programmed between the detection surface and the
center of the circle, set this parameter to 1.
If programming an outside circle, where the detection
surface is between the robot positions and the center of the
circle, then set this parameter to 0.
i) Define the search window. Set the Search Offset parameter
to the amount desired to have the robot use as its search
window. Set the Max Search Dist parameter to the distance
desired for the robot to move past each robot position.
Fig. 6-8: Search Offset Parameter
Robot Position 2
Robot Position 3
Search Offset Parameter
In the event the robot detects a tack or flat spot, the
calculated center or the circle will not match the actual
circles center location. To reduce the magnitude of this
NOTE
error, the distance between Robot Position 1, Robot
Position 2, and Robot Position 3 should be as large as
possible.
j) For newer versions of this routine, the distance between
three Robot Positions (detected during AutoTeach) are only
adjustable from the SETUP section in the macro job.
k) Press [ENTER] > [ENTER] to save the Argument Setting
Screen data to the robot job header.
l) Press and hold [INTERLOCK] + [TEST START] to execute
the macro job. The robot detects three times to find the
exact position of the circle. A message at the bottom of the
teach pendant screen prompts user to Modify Robot Pos 1,
set TEACH to 2.
6-10
Robot Position 1
Target Position of
Search Motion
Search Offset
166153-1CD
166153-1CD
Start Position of
Search Motion
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