Job For Robot Axis (6-Axis) + Base Axis (Base Coordinate System) - YASKAWA MOTOMAN-DX100 Instructions Manual

DX100

4.2.3 Job for Robot Axis (6-axis) + Base Axis (Base Coordinate System)

4 Interface with an Easy Offline Teaching System
4.2 Relative Job Data Examples
File Name : SAMPLE3.JBI
/JOB
//NAME SAMPLE3
//POS
///NPOS 3,3,0,0,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
C00000=820.000,0.000,614.000,180.0000,0.0000,0.0000
C00001=938.810,115.601,612.394,180.0000,0.1362,0.8904
C00002=1030.204,-460.007,454.071,179.9986,0.1269,0.8976
///RCONF 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
BC00000=0.000,0.000
BC00001=114.807,102.795
BC00002=114.807,102.795
//INST
///DATE 2008/10/23 12:00
///ATTR SC,RW,RJ
////FRAME BASE
///GROUP1 RB1,BS1
NOP
MOVJ C00000 BC00000 VJ=25.00
MOVJ C00001 BC00001 VJ=25.00
MOVJ C00002 BC00002 VJ=25.00
END
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