Mframe - YASKAWA MOTOMAN-DX100 Instructions Manual

156191-1CD
DX100

3.3.2 MFRAME

MFRAME UF#(1) P000 P001 P002
3 Operations Related to Relative Jobs
3.3 Instructions Related to Relative Job
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.
User coordi-
ORG XX
nate system to
be created.
Position variables and position data of user
coordinate system definition points are stored.
As for the position variable (cartesian) to be specified at
NOTE
MFRAME instruction, set the position where the
manipulator is capable of carrying out the operations.
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