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

DX100
4.2.5 Job for Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System,
4 Interface with an Easy Offline Teaching System
4.2 Relative Job Data Examples
Coordinate Job)
File Name:SAMPLE5.JBI
/JOB
//NAME SAMPLE5
//POS
///NPOS 3,3,3,0,0,0
///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=310.699,-189.229,878.797,129.5429,3.6290,6.7380
C00002=645.072,351.344,537.037,129.5434,3.6303,6.7375
///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=12.215,-11.629
BC00002=8.329,-11.629
///POSTYPE PULSE
///PULSE
EC00000=0
EC00001=-26647
EC00002=-49430
//INST
///DATE 2008/10/23 12:00
///ATTR SC,RW,RJ
////FRAME BASE
///GROUP1 RB1,BS1
///GROUP2 ST1
NOP
MOVJ C00000 BC00000 VJ=25.00 +MOVJ EC00000 VJ=25.00
MOVJ C00001 BC00001 VJ=25.00 +MOVJ EC00001 VJ=25.00
MOVJ C00002 BC00002 VJ=25.00 +MOVJ EC00002 VJ=25.00
END
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