YASKAWA MOTOMAN-DX100 Instructions Manual page 12

DX100
2 Examples of Use of Relative Jobs
2.1 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.
REMOTE TEACH
PLAY
... fi W
† ˘› ...fi ˜¶fl˜
C A E g
ˇ `
j j
S X [ |
Y
L | E [
Z [
U |
V t g C C
{ b g ‰
O †
o b N
X y [ X
Z-Coordinate
NOP
LOADV P000  a
LOADV P001  b
LOADV P002  c
MFRAME UF#(1) P000 P001 P002
END
3. Create a relative job.
– Convert "STANDARD-1" created in step 1 into a relative job called
"RELATIVE-1" using user coordinate system No. 1 created in step 2.
2-2
START HOLD
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! T [ { d „ ˜ " ‡ ¢
c [ I T [ { Ø
˚ W W I † ‚˜ G A
y [ W I
[ [ C C J b g V [ g ˆ ¤ » ˛ !? A V X g L L Z Z
G A
X S { { » ˛ R X [ X R {
Y ‹ | {
L { { B Y | [ B Y { E {
Z { Ł fi ‹ x
U { Æ Z T | [ Z T { {
^ ^ 7 8 9 e X g V t g
b N b N ^ ]
Π4 5 E 6 o b N l N X g
1 2 3
p r ` ˙ `
0 . −
ˇ X G ^
M O T O M A N
Position Data of a,b,c
Y-Coordinate
X-Coordinate
Position data of points detected by external
sensors is received and stored as position
variables.
User coordinate system
created.
HW0482494
156191-1CD
External Computer,
Vision Controller,etc.
Camera
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