How To Teach A Pattern - YASKAWA Motoman NX100 Manual

HW0482342
3 Teaching
Follow the example of teaching shown below to teach a motion instruction for cutting a form.
The items to be set in the form cut setting file are shown in
3.1

How to Teach a Pattern

With the form cutting function, teaching can be done by registering the FORMAPR and
FORMCUT instructions.
The FORMAPR instruction is a move instruction to move to the cutting motion's starting point,
and the FORMCUT instruction is a cutting motion instruction.
Move the manipulator axis in the step where the manipulator moves to the cutting motion's
starting point and use the FORMAPR instruction to register the position which is the center of
the form's pattern to be set.
Register the FORMCUT instruction in the step where the cutting motion starts (the next step
after the FORMAPR instruction).
Teaching Position of the FORMAPR Instruction
CONTROL GROUP R1
0003 MOVJ VJ=100.00
0004 MOVJ VJ=100.00
0005 MOVJ VJ=100.0
0006 FORMAPR FCF#(1) V=50.0
0007 FORMCUT FCF#(1)
0008 MOVL V=50.0
0009 END
TOOL 00
3-1
3.1 How to Teach a Pattern
.
" "
Move to the shelter point
Move to the starting point of the pattern
Cutting
Move to the shelter point
HW0482342