Pam Function - YASKAWA NX100 Operator's Manual

149235-1CD
6.4

PAM Function

6.4.1
Function Overview
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 at the programming pendant.
• Teaching Point (Position)
• Teaching Point (Posture angle): Valid from NS3.00
• Operation Speed
• Position Level
Input Ranges for Adjustment Data

The input ranges for adjustment data are indicated in the following table.
Data
Number of Steps for Adjustment
Position Adjustment Range (X, Y, Z) Unit: mm, valid to two decimal places, maximum
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:
SUPPLE
S3C806: Position adjustment range (unit: mm)
-MENT
S3C807: Speed adjustment range (unit: 0.01%)
S3C808: Adjustment coordinate specification
S3C810: Posture angle adjustment range (unit: 0.01 deg) [Valid from NS3.00]
For details, refer to chapter 8 "Parameter"
Input Range
Up to 10 steps can be adjusted at the same time.
±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)
6-34
6 Convenient Functions
6.4 PAM Function
Valid from
NS3.00
231 of 493
RE-CSO-A031