Overlapping The First And Last Steps - YASKAWA NX100 Operator's Manual

3 Teaching
3.2 Teaching Operation
3.2.4

Overlapping the First and Last Steps

Why is overlapping the first and last step necessary?
SUPPLE
-MENT
Assume that the job shown below is to be repeated. The manipulator moves from the last
step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly from Step 5 to Step 1, thereby improving work efficiency.
Operation
1 Move the cursor to the first
step line.
2 Press [FWD].
3 Move the cursor to the last
step line.
4 Press [MODIFY].
5 Press [ENTER].
Step 6
Step 6 after
change
Step 1
Step 2
Step 3
The manipulator moves to the first step position.
The cursor starts blinking. When the cursor line position and the
manipulator position are different in the JOB CONTENT window,
the cursor blinks.
The key lamp lights.
The position data for the first step is registered on the line of the
last step. At this time, only the position data can be changed in
the last step. Interpolation type and play speed do not change.
Step 5
The position of step 6 is changed
to overlap with step 1.
Step 4
Explanation
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