YASKAWA MOTOMAN-DX100 Instructions Manual page 13

156191-1CD
DX100
Position at
Teaching
2 Examples of Use of Relative Jobs
2.1 Shift Function to Offset Workpiece Position Error
4. Play back the job.
Use the following job to perform the relative job.
NOP
LOADV P000
LOADV P001
LOADV P002
MFRAME UF#(1) P000 P001 P002
MOVJ VJ=50.0
CALL JOB:RELATIVE-1
END
.
User Coordinate System before Modification
User Coordinate System after Modification
Playback:Sensors detect a workpiece position error.
This error is corrected by changing the original coordinate
system to create a new user coordinate system.
The workpiece is processed using this new user coordinate system.
2-3
Position data of points detected by
external sensors is received and stored
as position variables.
User coordinate
system created
Moving to waiting
position
"RELATIVE-1" of user
coordinate system
No.1 executed
Z-coordinate
HW0482494
Y-coordinate
X-coordinate
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