YASKAWA DX200 Instructions Manual page 92

TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
8 Programming Suggestions
8.2 Perpendicular Search Paths
 Keep search motion perpendicular to the surface of the part
As long as the previous rule is not contradicted (where all search motion
must be perpendicular to each other, when wishing to combine shift
amounts), keep search motion perpendicular to the surface of the part.
Fig. 8-8: Perpendicular Search Paths
Taught Weld
End Position
Shifted Weld
End Position
Taught Weld
End Position
Shift Weld
End Position
The seam finding macros discussed in this manual all contain routines
where the previously mentioned errors are dramatically reduced, while at
the same time realizing a reduction in teaching time. In summary, the
AutoTeach routines offer the following benefits:
• Reduced programming time.
• Improved ease of programming.
• Automatic detection of shift motion perpendicular to the part surface.
• Accurate programming of the detecting positions during teaching via
the AutoTeach routine.
• Reduced error associated with robot overshoot.
Perpendicular
Original
Programmed Part
Shift Amount
Deviated Part
CORRECT PROGRAMMING
Original
Programmed Part
Shift Amount
Deviated Part
INCORRECT PROGRAMMING
8-5
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Robot Position 1
Taught Weld
Start Position
Shifted Weld
Start Position
Located Surface
Robot Position 1
Taught Weld
Start Position
Shifted Weld
Start Position
Located Surface
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