Cases That Require The Registration Of Reference Points - YASKAWA NX100 Operator's Manual

149235-1CD


Cases that Require the Registration of Reference Points

The registration of the reference point REFP1 or REFP2 is not usually required. They are required only
with a special workpiece condition, etc.
The REFP1, that defines the wall direction, is a point on the wall surface or its expansion plane. The
REFP2, which defines the horizontal direction, is a point at the right or left side of the wall.
On the wall surface or
its expansion plane
Wall
Wall direction
For information on registering REFP, refer to " " Registering Reference Point Instructions
SUPPLE
"".
-MENT
< Example 1 > REFP1 is registered because the wall direction is not parallel to the Z-axis of the
robot coordinates.
Wall direction
REFP1
REFP1
REFP1
REFP1
Direction
of travel
Z-axis
9-78
9 Arc Welding Application
9.11 Weaving Condition File
REFP2
At the right or left side of the wall
Wall
REFP2
Wall direction
REFP2
Direction
of travel
Horizontal
direction
Example
0003 MOVL V=120
0004 WVON WEV#(1)
0005 REFP 1
0006 MOVL V=50
0007
WVOF
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