YASKAWA NX100 Operator's Manual page 76

3 Teaching
3.2 Teaching Operation
Setting the Play Speed
Operation
1 Move the cursor to the
instruction.
2 Press [SELECT].
3 Move the cursor to the play
speed to be set.
4 Press [SHIFT] + the cursor key
[↑] or [↓] simultaneously.
5 Press [ENTER].
Follow the above instructions when conducting teaching. (Tool number, interpolation type, or play
speed does not need to be set if it is same as the previous step.)
• The position level can be set at the same time that the move instruction is registered.
SUPPLE
• To make the setting so that the play speed tag is not displayed as a default, select {EDIT}
-MENT
from the menu and then select "ENABLE PLAY SPEED TAG" to delete "∗."
Setting Position Level
The position level is the degree of approximation of the manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint interpolation) and MOVL (linear
interpolation). If the position level is not set, the precision depends on the operation speed. Setting an
appropriate level moves the manipulator in a path suitable to circumferential conditions and the
workpiece. The relationship between path and accuracy for position levels is as shown below.
To display the position level tag as a default, select {EDIT} from the menu and then select
SUPPLE
"ENABLE POS LEVEL TAG."
-MENT
Position level 0
P2
Positioning level 1
Positioning level 2
Positioning level 3
Positioning level 4
Positioning level 5
P1
0001 MOVJ=50.00
The cursor moves to the input buffer line.
MOVJ VJ=50.00
The joint speed moves up and down.
MOVJ VJ=50.00
The MOV instruction is registered.
0000 NOP
Move instruction
0001 MOVJ VJ=50.00
is registered.
0002 END
Position Levels
P3
3-12
Explanation
Accuracy
0 Teaching position
1 Fine
to |
10 Rough
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