YASKAWA Motoman NX100 Manual page 22

3.1 How to Teach a Pattern
Do not register any move instruction (MOVJ, MOVL, etc.) between the FORMAPR and
NOTE
FORMCUT instructions.
If any move instruction is registered, normal operation is disabled or an alarm occurs.
Set the same value for both the FORMAPR and FORMCUT instruction tag values (form
NOTE
cut setting file No., etc.) except for "SPEED". If the values are different, the FORMAPR
instruction tag value is validated.
The speed in the FORMAPR instruction is for the speed when moving to the starting point,
and the FORMCUT instruction is for the speed when cutting.
By setting the "START POINT" of the form cut setting file to the center or the specified point,
the FORMCUT instruction can start a cutting motion from the center of the pattern or any point
near the pattern.
By pressing PLAYBACK, TEST RUN, or INTERLOCK and NEXT at the same time, the
FORMAPR instruction is carried out and the manipulator moves to the center of the pattern
when the center is set as the "START POINT"; or it moves to the specified point near the
pattern when a specific point is set as the "START POINT".
By pressing the NEXT or BACK, the FORMAPR instruction is carried out and the manipulator
disregards the "START POINT" setting and moves to the center of the pattern.
When the center is set as the "START POINT"
3-2
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HW0482342