Previous Step Regarded (Constant B-Axis Sign) - YASKAWA MOTOMAN-DX100 Instructions Manual

DX100

3.5.1 Previous Step Regarded (Constant B-axis Sign)

3 Operations Related to Relative Jobs
3.5 Relative Job Operation Method
This method allows movement to the specified step in relation to the B-
axis angle of the previous step. During operation, movement is made
keeping the B-axis angle sign (+/-) constant so that it does not change.
Therefore, it is used for a job of which the B-axis does not pass the point
0°.
If a job of which the B-axis passes the point 0° is executed, the angle of
the B-axis stays unchanged even when it should be changed, resulting in
the R-axis turning to the position opposite by 180°.
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