YASKAWA DX200 - Page 16

Table of Contents
xvi
182582-1CD
182582-1CD
MH900, DX200 Controller
8.1.2.4 Clearing ABSOLUTE DATA ..................................................................8-10
8.1.3 Home Position of the Robot................................................................................8-11
8.2 Setting the Second Home Position (Check Point) ...........................................................8-12
8.2.1 Purpose of Position Check Operation.................................................................8-14
8.2.2 Procedure for the Second Home Position Setting (Check Point) .......................8-16
8.2.3 Procedure after the Alarm...................................................................................8-18
8.3 Tool Data Setting .............................................................................................................8-20
8.3.1 Registering Tool Files .........................................................................................8-20
8.3.1.1 Number of Tool Files .............................................................................8-20
8.3.1.2 Registering Coordinate Data .................................................................8-20
8.3.1.3 Registering Tool Angle ..........................................................................8-22
8.3.1.4 Setting the Tool Load Information .........................................................8-24
8.3.2 Tool Calibration...................................................................................................8-24
8.3.2.1 Tool Calibration .....................................................................................8-24
8.3.2.2 Setting of Tool Calibration Method ........................................................8-25
8.3.2.3 Teaching of Calibration Point ................................................................8-26
8.3.2.4 Clearing Calibration Data ......................................................................8-30
8.3.2.5 Checking the TCP .................................................................................8-32
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity.................8-33
8.3.3.1 What is the Automatic Measurement of the Tool Load and the Center of
Gravity? .................................................................................................8-33
8.3.3.2 Measurement of the Tool Load and the Center of Gravity .................... 8-34
8.4 ARM Control ....................................................................................................................8-38
8.4.1 ARM Control .......................................................................................................8-38
8.4.2 ARM CONTROL Window ................................................................................... 8-38
8.4.2.1 Robot Setup Condition .......................................................................... 8-38
8.4.3 Tool Load Information Setting.............................................................................8-43
8.4.3.1 Tool Load Information............................................................................8-43
8.4.3.2 How to Calculate Tool Load Information ............................................... 8-44
8.4.3.3 Tool Load Information Registering ........................................................ 8-50
8.5 Work Home Position ........................................................................................................8-53
8.5.1 What is the Work Home Position? ......................................................................8-53
8.5.2 Setting Work Home Position...............................................................................8-53
8.5.2.1 Work Home Position Window ................................................................8-53
8.5.2.2 Registering/Changing the Work Home Position ....................................8-54
8.5.2.3 Returning to the Work Home Position ...................................................8-55
8.5.2.4 Output of the Work Home Position Signal .............................................8-56
8.6 Interference Area .............................................................................................................8-57
8.6.1 Interference Area................................................................................................8-57
8.6.2 Cubic Interference Area......................................................................................8-57
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