YASKAWA MOTOMAN-DX100 Instructions Manual page 15

156191-1CD
DX100
2.2.2 By Converting the User Coordinate When Operating
2 Examples of Use of Relative Jobs
2.2 A Single Manipulator to Work on the Same Type of Workpiece in
Different Locations
A single relative job can be executed at more than one position. In this
way, the memory can be used effectively.
1. Create job "ABCDEF" for a single workpiece.
2. Teach a user coordinate system (for instance, UF#1) for the workpiece
in that location.
3. Convert the job created in step 1 into a relative job using the user
coordinate system taught in step 2.
4. Move the workpiece to another location and teach another user
coordinate system (for instance, UF#2) for the workpiece in that
location.
5. Specify the operating coordinate system when calling the work job
from a control job.
NOP
CALL JOB:ABCDEF UF#2
END
– When the CALL instruction is executed, relative job "ABCDEF" that
was taught using UF#1 is performed using UF#2.
6. To create more jobs to execute at other locations, repeat step 4 and
step 5 using other user coordinate system numbers.
The manipulator is not always capable of carrying out the
operation depending on the operating position.
NOTE
Do not force the manipulator to make excessive position
changes.
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