Pam Function; Function Overview; Input Ranges For Adjustment Data - YASKAWA DX100 Operator's Manual

155507-1CD
DX100
6.5

6.5.1 Function Overview

6.5.1.1 Input Ranges for Adjustment Data

6 Convenient Functions

6.5 PAM Function

PAM Function
The function for position adjustment during playback (PAM: Position
Adjustment by Manual) allows position adjustment by simple operations
while observing the motion of the manipulator and without stopping the
manipulator. Positions can be adjusted in both teach mode and play
mode.
The following data can be adjusted by key input from the programming
pendant.
• Teaching Point (Position)
• Teaching Point (Posture angle)
• Operation Speed
• Position Level
The input ranges for adjustment data are indicated in the following table.
Data
Number of Steps for Adjustment
Position Adjustment Range
(X, Y, Z)
Posture Angle Adjustment Range
(Rx, Ry, Rz)
Speed Adjustment Range (V)
PL Adjustment Range
Adjustment Coordinates
The input ranges for adjustment data can be changed by the
following parameters:
• S3C1098: Position adjustment range (unit: 0.001 mm)
• S3C1099: Speed adjustment range (unit: 0.01%)
SUPPLE-
MENT
• S3C1100: Adjustment coordinate specification
• S3C1102: Posture angle adjustment range (unit: 0.01 deg)
For details, refer to chapter 8 "Parameter".
6-47
Input Range
Up to 10 steps can be adjusted at the same
time.
Unit: mm, valid to two decimal places,
maximum ±10 mm
Unit: deg, valid to two decimal places,
maximum ±10 deg
Unit: %, valid to two decimal places,
maximum ±50%
0 to 8
Robot coordinates, base coordinates, tool
coordinates, user coordinates (Default
coordinates: robot coordinates)
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