YASKAWA DX200 - Creating a Check Program

4 Preparation before Replacing Parts
4.1 Creating a Check Program
4-3
• Change in the combination of the manipulator and DX200
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of YCP21 board, weak bat-
tery, etc.)
• Home position deviation caused by hitting the manipulator against a
workpiece, etc.
4.1 Creating a Check Program
To check position deviation whenever necessary, create a program in
which a check point is taught (the job for the check point). In the job for the
check point, teach two points; one as a check point and the other as the
point to approach the check point. This program checks for any deviation
between the tool tip position and the check point.
Fig. 4-1: <Enlarged View>