YASKAWA MOTOMAN-DX100 Instructions Manual page 25

156191-1CD
DX100
3 Operations Related to Relative Jobs
3.3 Instructions Related to Relative Job
4. Select an instruction to be registered.
– Synchronizing with the cursor, instructions appear in the input buffer
line the same way as the additional items are registered last time.
5. Change the additional items and variable data.
– <To register items as they appear in the input buffer>
Perform operation 6.
– <To edit any additional items>
Move the cursor to the additional item to be changed, and then
press [SELECT] to display an input line.
CALL JOB: ABC
– Move the cursor to the job to additionally register as a CALL
instruction, then press [SELECT].
Notes on registering CALL and JUMP instructions
When a relative job is started, the manipulator moves from
its current posture.
Therefore, teach the manipulator so that the posture right
before calling the relative job is similar to the posture on
the first step of the relative job.
If the manipulator starts a relative job in a posture which is
extremely different from the posture in the first step, it may
NOTE
move in an unexpected way.
<Example>
P
3-9
Posture similar to the P1
P
and the first step of the
relative job.
P
MOVJ VJ=20.00
CALL JOB: RELATIVE-1
MOVJ VJ=20.00
P P
HW0482494
←
P2 to P5
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