Inserting Move Instructions - YASKAWA NX100 Operator's Manual

3 Teaching
3.4 Modifying Steps
3.4.2

Inserting Move Instructions

NOTE
Move instructions cannot be inserted when the servo power is OFF.
Operation
1 Move the cursor to the line
immediately before the insert
position.
2 Press the axis operation key.
3 Press [INSERT].
4 Press [ENTER].
Step where move instruction is to be inserted
Path after insertion
Path before insertion
The line immediately
before where the
move instruction
is to be added.
Turn ON the servo power and press the axis operation key to
move the manipulator to the position to be inserted.
Confirm the move instruction on the input buffer line
NOTE
and set desired interpolation type and play speed.
The key lamp will light.
When the inserting position is immediately before
NOTE
the END instruction, pressing [INSERT] is not
needed.
The move instruction is inserted after the cursor line.
The move instruction
is added.
<Examples of Inserting a Move Instruction>
When a move instruction is inserted in the following job, it is
placed on different lines according to the setting in the
TEACHING CONDITION window.
Cursor line
After the insertion: when inserting before the next step
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
Added
0009 MOVL V=558
instruction
0010 MOVJ VJ=100.0
3-28
Explanation
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVJ VJ=100.0
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVL V=558
0010 MOVJ VJ=100.0
Before inserting the move instruction
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVJ VJ=100.0
After the insertion: when inserting after the cursor line
0006
Added
0007
instruction
0008
0009
0010
149235-1CD
MOVL V=276
MOVL V=558
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
RE-CSO-A031
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