Type Regarded - YASKAWA MOTOMAN-DX100 Instructions Manual

156191-1CD
DX100

3.5.3 Type Regarded

3 Operations Related to Relative Jobs
3.5 Relative Job Operation Method
When a relative job is converted from a standard job, position data of each
step is classified into XYZ type position data and type data.
In the type operation method, a movement is operated so that the type is
added to the position data.
Since a movement is made for the specified type in any case, this method
is effective when performing a job taught offline.
However, in case where a relative job is used as the shifting function for
workpiece dislocation, special attention must be paid. If the teaching
position is near the pole changing point, the movement may not be made
for the specified type when the position is shifted according to the
workpiece dislocation.
For example, if a standard job that was taught when the angle of B-axis is
close to but more than 0° (θB>=0°) and this position is shifted, the angle of
the B-axis may change to exceed 0° (θB<0°).
The movement is made in "flip" before shifting and "no-flip" after shifting.
Since a movement is made for a specified type even when using the type
regarded method, the angle of the R-axis is turned 180° in the opposite
direction.
Therefore, moving 180° in the opposite direction to the position taught by
the R-axis may cause interference with the workpiece.
3-15
B >= 0°
flip
0°
B < 0°
no-flip
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