Application Examples; T-Joint - YASKAWA DX200 Instructions Manual

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
7

Application Examples

7.1
7 Application Examples

7.1 T-Joint

T-Joint
In order to account for variations at the end of a part, a 1TCH routine in
tandem with a 2TCH routine can account for three dimensional variation.
This process uses the 1TCH routine to detect the edge of the plate. The
2TCH routine is then shifted by the amount developed by the 1TCH
routine Finally, the 2TCH routine is used to detect variations perpendicular
to the 1TCH routines search direction.
Line Instruction
0000 NOP
MOVL
1TCH P000
MOVL
SFTON P000
MOVL
2TCH P001
MOVL
SFTON P001
MOVL
ARCON
Fig. 7-1: 1TCH
7-1
Explanation
Approach position for 1TCH routine
Departure point for 1TCH routine
Execute 1TCH shift amount to shift
2TCH routine
Approach point for 2TCH routine
Departure point for 2TCH routine
Execute combined shift amount
from 1TCH and 2TCH routines
First weld point
166153-1CD
166153-1CD
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