Using One Job On Multiple Manipulators - YASKAWA MOTOMAN-DX100 Instructions Manual

DX100
2.3
2 Examples of Use of Relative Jobs
2.3

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
A job taught to one manipulator can be used for other manipulators on the
line.
1. On manipulator No.1, create a job 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. Save the created relative job in an external memory device.
5. Set workpieces to manipulators No. 2 and No. 3 to which the job will
be shifted. Teach the user coordinate system (UF#1) to the
manipulators.
6. Load the relative job saved in step 4 and convert it to standard jobs for
manipulators No. 2 and No. 3.
– This operation creates jobs operated at the posture specified in
step 5.
The manipulator is not always capable of carrying out the
NOTE
operation depending on the operating position.
Check the positions by FWD and BWD operations.
2-6
No.2 No.3
HW0482494
156191-1CD
16/63