YASKAWA MOTOMAN-DX100 Instructions Manual
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YASKAWA MOTOMAN-DX100 Instructions Manual

For relative job function, industrial robot
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DX100
INSTRUCTIONS
FOR RELATIVE JOB FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-DX100 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator's manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number:
156191-1CD
Revision:
2
MANUAL NO.
HW0482494
1/63
2

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Summary of Contents for YASKAWA MOTOMAN-DX100

  • Page 1 FOR RELATIVE JOB FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-DX100 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manuals above correspond to specific usage.
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 3 156191-1CD DX100 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”. Indicates a potentially hazardous WARNING situation which, if not avoided, could result in death or serious injury to personnel.
  • Page 4 156191-1CD DX100 WARNING • Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the front door of the DX 100 and programing pendant are pressed. When the servo power is turned off, the SERVO ON LED on the programing pendant is turned off.
  • Page 5 Read and understand the Explanation of the Warning Labels in the DX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The MOTOMAN usually consists of the controller, the programming pendant, and supply cables.
  • Page 6 156191-1CD DX100 Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows: Equipment Manual Designation Programmin Character The keys which have characters printed on g Pendant Keys them are denoted with [ ]. ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with...

  • Page 7: Table Of Contents

    156191-1CD DX100 Table of Contents 1 Relative Job ............................ 1-1 1.1 Coordinate Systems ......................1-1 1.2 Relative Job Shift Functions ....................1-1 2 Examples of Use of Relative Jobs ....................2-1 2.1 Shift Function to Offset Workpiece Position Error ............. 2-1 2.2 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations ..
  • Page 8 156191-1CD DX100 Table of Contents 4.2 Relative Job Data Examples.................... 4-12 4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis (6-Axis Robot) ..4-12 4.2.2 Job for User Coordinate System No. 3, Only for Robot Axis (7-Axis Robot) ..4-13 4.2.3 Job for Robot Axis (6-axis) + Base Axis (Base Coordinate System) ....

  • Page 9: Relative Job

    156191-1CD Relative Job DX100 Coordinate Systems Relative Job In a standard job, each position is defined by a set of pulse numbers, which represent the amount of revolutions of the S, L, U, R, B, and T axes. In a relative job, however, each position is represented with a set of three values (X, Y, Z) in a specified coordinate system.
  • Page 10 156191-1CD Relative Job DX100 Relative Job Shift Functions Z-coordinate Z-coordinate Y-coordinate Y-coordinate X-coordinate X-coordinate Movement in User Coordinate System Relative Job Shifting Operation No. 1 when Definition Point is Changed • Changing definition points of the user coordinate system or varying the coordinate system number without due consideration may cause the manipulator to move in an unexpected direction when the job is executed.

  • Page 11: Examples Of Use Of Relative Jobs

    156191-1CD Examples of Use of Relative Jobs DX100 Shift Function to Offset Workpiece Position Error Examples of Use of Relative Jobs Shift Function to Offset Workpiece Position Error After teaching a standard job for a workpiece placed at a reference point, the job is converted into a relative job in a user coordinate system.
  • Page 12 156191-1CD Examples of Use of Relative Jobs DX100 Shift Function to Offset Workpiece Position Error 2. Create a user coordinate system for the workpiece. Execute a job that creates a user coordinate system based on the position data of three definition points detected on the workpiece by sensors.
  • Page 13 156191-1CD Examples of Use of Relative Jobs DX100 Shift Function to Offset Workpiece Position Error 4. Play back the job. Use the following job to perform the relative job. Position data of points detected by LOADV P000 external sensors is received and stored LOADV P001 as position variables.

  • Page 14: A Single Manipulator To Work On The Same Type Of Workpiece In Different Locations

    156191-1CD Examples of Use of Relative Jobs DX100 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations A Single Manipulator to Work on the Same Type of Workpiece in Different Locations Fig. 2-1: A Single Manipulator to Work on the Same Workpiece in Deifferent Locations Workpiece Manipulator...
  • Page 15 156191-1CD Examples of Use of Relative Jobs DX100 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations 2.2.2 By Converting the User Coordinate When Operating A single relative job can be executed at more than one position. In this way, the memory can be used effectively.

  • Page 16: Using One Job On Multiple Manipulators

    156191-1CD Examples of Use of Relative Jobs DX100 Using One Job on Multiple Manipulators Using One Job on Multiple Manipulators Fig. 2-2: Using One Job on Multiple Manipulators Workpiece Manipulator No.1 No.2 No.3 A job taught to one manipulator can be used for other manipulators on the line.

  • Page 17: Operations Related To Relative Jobs

    156191-1CD Operations Related to Relative Jobs DX100 Converting into a Related Job Operations Related to Relative Jobs Converting into a Related Job To create a relative job, convert a standard job into a relative job. The conversion of a relative job into a standard job is also possible. C o n v e r s i o n Standard Job Relative Job...
  • Page 18 156191-1CD Operations Related to Relative Jobs DX100 Converting into a Related Job C. COORDINATE Selects a coordinate system where a standard job is converted into a relative job. (1) Select {COORDINATE}, and the selection dialog is displayed. (2) Select one either BASE, ROBOT or USER for the conversion destination.
  • Page 19 156191-1CD Operations Related to Relative Jobs DX100 Converting into a Related Job E. EXECUTE Executes job conversion. (1) Select {EXECUTE} to execute the conversion. • During conversion, all key operations are unavailable. • Any alarm during the conversion interrupts the operation.

  • Page 20: Verification Of Information Related To Relative Job

    156191-1CD Operations Related to Relative Jobs DX100 Verification of Information Related to Relative Job Verification of Information Related to Relative Job 3.2.1 Verifying Coordinate System The coordinate system used for teaching can be verified in the job header window. 1. Select {JOB} under the main menu. 2.

  • Page 21: Verifying Command Positions

    156191-1CD Operations Related to Relative Jobs DX100 Verification of Information Related to Relative Job 3.2.2 Verifying Command Positions The command position of XYZ-type can be verified by calling up the command position window for the relative job. 1. Select {ROBOT} under the main menu. {COMMAND POSITION}.

  • Page 22: Instructions Related To Relative Job

    156191-1CD Operations Related to Relative Jobs DX100 Instructions Related to Relative Job Instructions Related to Relative Job 3.3.1 CALL/JUMP CALL or JUMP are the instructions used to call and execute a relative job. If no coordinate system number is specified for the job, the job is carried out with the coordinate system used for teaching.

  • Page 23: Mframe

    156191-1CD Operations Related to Relative Jobs DX100 Instructions Related to Relative Job 3.3.2 MFRAME The MFRAME instruction creates a user coordinate system from position data detected by sensors. <Example> Position data of sensor-detected definition points of the user coordinate system is stored as position variables. A user coordinate system is created using the position variables.

  • Page 24: Registering An Instruction

    156191-1CD Operations Related to Relative Jobs DX100 Instructions Related to Relative Job 3.3.3 Registering an Instruction 1. Move the cursor to the address area. 2. In the job content window, move the cursor to the line immediately above the place where an instruction is to be registered. –...
  • Page 25 156191-1CD Operations Related to Relative Jobs DX100 Instructions Related to Relative Job 4. Select an instruction to be registered. – Synchronizing with the cursor, instructions appear in the input buffer line the same way as the additional items are registered last time. 5.

  • Page 26: Editing Relative Jobs

    156191-1CD Operations Related to Relative Jobs DX100 Editing Relative Jobs Editing Relative Jobs Relative jobs, like standard jobs, can be edited with the programming pendant to add, modify, and delete positions. The differences in editing relative jobs and editing standard jobs are explained in this section.

  • Page 27: Relative Job Operation Method

    156191-1CD Operations Related to Relative Jobs DX100 Relative Job Operation Method Relative Job Operation Method When a relative job is performed, there are several ways to move to the step position. The following three methods can be used to designate the motion.

  • Page 28: Previous Step Regarded (Constant B-Axis Sign)

    156191-1CD Operations Related to Relative Jobs DX100 Relative Job Operation Method 3.5.1 Previous Step Regarded (Constant B-axis Sign) This method allows movement to the specified step in relation to the B- axis angle of the previous step. During operation, movement is made keeping the B-axis angle sign (+/-) constant so that it does not change.
  • Page 29 156191-1CD Operations Related to Relative Jobs DX100 Relative Job Operation Method R-axis 0   -90  90  0  -90  90  R-axis turns to the opposite position.   B-axis does not pass the point 0. ...

  • Page 30: Previous Step Regarded (Minimum R-Axis Movement)

    156191-1CD Operations Related to Relative Jobs DX100 Relative Job Operation Method 3.5.2 Previous Step Regarded (Minimum R-axis Movement) This method keeps the R-axis movement to a minimum when the manipulator moves from the previous step to the next step. Therefore, it can be used for jobs of which the B-axis passes the point 0°.

  • Page 31: Type Regarded

    156191-1CD Operations Related to Relative Jobs DX100 Relative Job Operation Method 3.5.3 Type Regarded When a relative job is converted from a standard job, position data of each step is classified into XYZ type position data and type data. In the type operation method, a movement is operated so that the type is added to the position data.
  • Page 32 156191-1CD Operations Related to Relative Jobs DX100 Relative Job Operation Method The final tool position and stance are not changed before and after shifting. R-Axis 0° B >= 0° flip -90° 90° 0° 180° The position after shifting when the R-axis movement is minimum. 0°...

  • Page 33: Interface With An Easy Offline Teaching System

    156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format Interface with an Easy Offline Teaching System A relative job can be used as an interface with an easy offline teaching system. This chapter describes the necessary information to create a relative job on the easy offline teaching system.
  • Page 34 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format A pseudo instruction is distinguished by a single slash (/) at its beginning. Each level of individual instructions are marked with a double slash (//), a triple slash (///), and a fourfold slash (////). A pseudo instruction related to the job is made as follows.

  • Page 35: Job

    156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format 4.1.1 JOB Function : Shows that it is a job. Format : /JOB 4.1.2 NAME Function : Represents the job name. Format : //NAME <Name> <Name> : up to 32 characters 4.1.3 POS Function : Represents the position data.
  • Page 36 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format PULSE  Function: Represents that pulse data is defined during and after this pseudo instruction. Format: ///PULSE <Pulse data>:<C>|<BC>|<EC>|<P>|<BP>|<EX> <C>:<Cxxxxx>=<S>,<L>,<U>,<R>,<B>,<T>,<E> <BC>:<BCxxxxx>=<1>,<2>,<3> <EC>:<ECxxxxx>=<1>,<2>,<3>,<4>,<5>,<6> <P>:<Pyyyy>=<S>,<L>,<U>,<R>,<B>,<T>,<E> <BP>:<BPyyyy>=<1>,<2>,<3> <EX>:<EXyyyy>=<1>,<2>,<3>,<4>,<5>,<6> <Cxxxxx>: Robot axis teaching position <BCxxxxx>: Base axis teaching position <ECxxxxx>: External (station) axis teaching position <Pyyyy>: Robot axis position variables...
  • Page 37 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format RECTAN  Function: Represents that Cartesian data is defined during and after this pseudo instruction. Format: ///RECTAN <Cartesian data>: <C>|<BC>|<P>|<BP> <C>: <Cxxxxx> = <X>,<Y>,<Z>,<Rx>,<Ry>,<Rz>,<Re> <BC>: <BCxxxxx> = <1>,<2>,<3> <P>: <Pyyyy>...

  • Page 38: Inst

    156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format 4.1.4 INST Function : Represents that it is an instruction. Format : //INST  DATE Function : Represents the date. Format : ///DATE <YYYY>/<MM>/<DD> <HH>:<TT> <YYYY>: Year <MM>: Month <DD>: Day <HH>: Hour <TT>: Minute...
  • Page 39 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format GROUP1  Function : Represents 1st MOVE control group. Format : ///GROUP1 <m1>,<m2>,<m3> Add any of the following to<m1>,<m2>, and<m3>. RB1(robot 1) ST1(station 1) RB2(robot 2) ST2(station 2) RB3(robot 3) ST3(station 3) RB4(robot 4)
  • Page 40 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format GROUP2  Function : Represents 2nd MOVE control group. Format : ///GROUP2 <m1>,<m2>,<m3> Add any of the following to<m1>,<m2>, and<m3>. RB1(robot 1) ST1(station 1) RB2(robot 2) ST2(station 2) RB3(robot 3) ST3(station 3) RB4(robot 4)
  • Page 41 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format GROUP3  Function : Represents 3rd MOVE control group. Format : ///GROUP3 <m1>,<m2>,<m3> Add any of the following to<m1>,<m2>, and<m3>. RB1(robot 1) ST1(station 1) RB2(robot 2) ST2(station 2) RB3(robot 3) ST3(station 3) RB4(robot 4)
  • Page 42 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format GROUP4  Function : Represents 4th MOVE control group. Format : ///GROUP4 <m1>,<m2>,<m3> Add any of the following to<m1>,<m2>, and<m3>. RB1(robot 1) ST1(station 1) RB2(robot 2) ST2(station 2) RB3(robot 3) ST3(station 3) RB4(robot 4)
  • Page 43 156191-1CD Interface with an Easy Offline Teaching System DX100 Job Data Format LVARS  Function : Represents the number of local variables. Format : ///LVARS <LB>,<LI>,<LD>,<LR>,<LS>,<LP>,<LBP>,<LEX> <LB>: Number of byte type local variables <LI>: Number of integer type local variables <LD>: Number of double-precision type local variables <LR>: Number of real number type local variables <LS>: Number of character type local variables...

  • Page 44: Relative Job Data Examples

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples Relative Job Data Examples 4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis (6-Axis Robot) File Name : SAMPLE1.JBI /JOB //NAME SAMPLE1 //POS ///NPOS 5,0,0,0,0,0 ///USER 3 ///TOOL 0 ///POSTYPE USER...

  • Page 45: Job For User Coordinate System No. 3, Only For Robot Axis (7-Axis Robot)

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples 4.2.2 Job for User Coordinate System No. 3, Only for Robot Axis (7-Axis Robot) File Name : SAMPLE2.JBI /JOB //NAME SAMPLE2 //POS ///NPOS 5,0,0,0,0,0 ///USER 3 ///TOOL 0 ///POSTYPE USER ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0...

  • Page 46: Job For Robot Axis (6-Axis) + Base Axis (Base Coordinate System)

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples 4.2.3 Job for Robot Axis (6-axis) + Base Axis (Base Coordinate System) File Name : SAMPLE3.JBI /JOB //NAME SAMPLE3 //POS ///NPOS 3,3,0,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 C00000=820.000,0.000,614.000,180.0000,0.0000,0.0000 C00001=938.810,115.601,612.394,180.0000,0.1362,0.8904...

  • Page 47: Job For Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System, Single Job)

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples 4.2.4 Job for Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System, Single Job) File Name:SAMPLE4.JBI /JOB //NAME SAMPLE3 //POS ///NPOS 2,2,2,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0...

  • Page 48: Job For Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System, Coordinate Job)

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples 4.2.5 Job for Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System, Coordinate Job) File Name:SAMPLE5.JBI /JOB //NAME SAMPLE5 //POS ///NPOS 3,3,3,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0...

  • Page 49: Job For Robot Axis (6-Axis) + Robot Axis (6-Axis) (Base Coordinate System, Coordinate Job)

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples 4.2.6 Job for Robot Axis (6-Axis) + Robot Axis (6-Axis) (Base Coordinate System, Coordinate Job) File Name:SAMPLE6.JBI /JOB //NAME SAMPLE6 //POS ///NPOS 10,0,0,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 C00000=820.000,0.000,614.000,180.0000,0.0000,0.0000...
  • Page 50 156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples SMOVL C00002 V=46.0 +MOVL C00003 SMOVL C00004 V=46.0 +MOVL C00005 MOVL C00006 V=46.0 +MOVL C00007 V=11.0 MOVL C00008 V=46.0 +MOVL C00009 V=22.0 4-18 HW0482494 50/63...

  • Page 51: Job For Robot Axis (7-Axis) + Robot Axis (6-Axis) Base Coordinate System, Coordinate Job)

    156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples 4.2.7 Job for Robot Axis (7-Axis) + Robot Axis (6-Axis) (Base Coordinate System, Coordinate Job) File Name:SAMPLE7.JBI /JOB //NAME SAMPLE7 //POS ///NPOS 10,0,0,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 C00000=824.237,246.386,520.293,-179.5792,0.4824,0.7807,0.4685...
  • Page 52 156191-1CD Interface with an Easy Offline Teaching System DX100 Relative Job Data Examples SMOVL C00002 V=46.0 +MOVL C00003 SMOVL C00004 V=46.0 +MOVL C00005 MOVL C00006 V=46.0 +MOVL C00007 V=11.0 MOVL C00008 V=46.0 +MOVL C00009 V=22.0 4-20 HW0482494 52/63...

  • Page 53: Configuration Of Position Data

    156191-1CD Interface with an Easy Offline Teaching System DX100 Configuration of Position Data Configuration of Position Data The configuration of the position data for each axis in each coordinate system is as follows. 4.3.1 Position Data of Each Axis 4.3.1.1 Robot Axis R1 = X, Y, Z, Rx, Ry, Rz + type X-, Y- and Z-axes represent the coordinate position of the control point based on a specified coordinate system.

  • Page 54: Position Data Of Each Coordinate System

    156191-1CD Interface with an Easy Offline Teaching System DX100 Configuration of Position Data 4.3.2 Position Data of Each Coordinate System The position data of a robot axis, base axis, and station axis in each coordinate system is as follows. 4.3.2.1 Base Coordinate System Base Coordinate System Robot Axis Coordinate Values (Xb,Yb,Zb,RXb,RYb,RZb)

  • Page 55: User Coordinate System

    156191-1CD Interface with an Easy Offline Teaching System DX100 Configuration of Position Data 4.3.2.3 User Coordinate System Base Coordinate System User Coordinate System Robot Axis Coordinate Values (Xu,Yu,Zu,RXu,RYu,RZu) Station Axis Pulse Values(W1,W2) Base Axis Coordinate Values(X0,Y0,Z0) The user coordinate system of 7-axis manipulator takes NOTE X, Y, Z, Rx, Ry, Rz ,Re+ type.

  • Page 56: Manipulator Type

    156191-1CD Interface with an Easy Offline Teaching System DX100 Manipulator Type Manipulator Type To describe robot axis position data in the XYZ type, several postures can be taken due to the manipulator mechanism when the manipulator is moved to the described position. These postures have different pulses at each axis while sharing the same coordinate system at the control point.

  • Page 57: R-Axis Angle

    156191-1CD Interface with an Easy Offline Teaching System DX100 Manipulator Type 4.4.2 R-axis Angle Specify whether the R-axis angle is within ±180° or exceeds ±180°. ° ° R<180 R>=180 0 0 360 -360 -180 180 ° ° ° ° <θR, θR<=-180 -180 <θR<=180 Note :θR is the angle when the R-axis zero-point position is assumed to...

  • Page 58: Front/Back

    156191-1CD Interface with an Easy Offline Teaching System DX100 Manipulator Type 4.4.4 Front/Back Viewing the L-axis and U-axis from the right side, specify the location of the B-axis rotation center either right or left side of the S-axis rotation center. If its center is at the right side of the S-axis rotation center, it is defined as “front”...
  • Page 59 156191-1CD Interface with an Easy Offline Teaching System DX100 Manipulator Type When it is 7-axis manipulator, viewing the L-axis and U-axis from the right side, specify the side of the U-axis rotation center either right or left side of the S-axis rotation. If its center is at the right side of the S-axis rotation center, it is defined as “front”...

  • Page 60: Upper/Lower Arm

    156191-1CD Interface with an Easy Offline Teaching System DX100 Manipulator Type 4.4.5 Upper/Lower Arm (Type Comprised of an L-axis and U-axis Specify the type comprised of the L-axis and the U-axis when the L-axis and the U-axis are viewed from the right side. Right Side Upper arm Lower arm...

  • Page 61: Alarm And Error Message List

    156191-1CD Alarm and Error Message List DX100 Alarm Messages Alarm and Error Message List Alarm Messages Alarm Message Cause Remedy Number 4500 UNDEFINED Undefined user coordinates Define the user USER were used. coordinate. FRAME [Decimal Data] 4509 MFRAME Impossible to create user Register the ERROR coordinates.

  • Page 62: Instruction List

    156191-1CD Instruction List DX100 Instruction List < >shows number or character data. When there are more than one additional items in one section, choose one. MFRAME Function Creates a user coordinate system using the position data of the given three points as the definition point. Format : MFRAME UF#(xx) <Data 1><Data 2><Data 3>...
  • Page 63 DX100 INSTRUCTIONS FOR RELATIVE JOB FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW0482494 63/63...

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