Job For Robot Axis (7-Axis) + Robot Axis (6-Axis) Base Coordinate System, Coordinate Job) - YASKAWA MOTOMAN-DX100 Instructions Manual

156191-1CD
DX100
4.2.7 Job for Robot Axis (7-Axis) + Robot Axis (6-Axis) (Base Coordinate System, Coordinate
4 Interface with an Easy Offline Teaching System
4.2 Relative Job Data Examples
Job)
File Name:SAMPLE7.JBI
/JOB
//NAME SAMPLE7
//POS
///NPOS 10,0,0,0,0,0
///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=824.237,246.386,520.293,-179.5792,0.4824,0.7807,0.4685
///TOOL 1
C00001=820.000,0.000,614.001,-72.5917,0.7106,89.1770,0.0000
///TOOL 0
C00002=793.954,422.714,861.754,171.6558,-30.9222,-1.2583,4.5765
///TOOL 1
C00003=714.876,195.197,968.938,-104.5394,7.2542,82.4590,0.0000
///TOOL 0
C00004=778.995,426.244,865.671,171.3396,-31.1937,-1.4285,3.4157
///TOOL 1
C00005=442.699,4.409,408.710,-111.1509,7.0959,38.4715,0.0000
///TOOL 0
C00006=734.683,393.846,851.343,169.7611,-34.8869,-2.5952,1.5340
///TOOL 1
C00007=509.009,35.286,412.152,-99.7284,9.2743,49.9918,0.0000
///TOOL 0
C00008=944.084,48.552,706.077,158.4685,-15.9402,-6.9278,0.0000
///TOOL 1
C00009=635.334,-161.233,614.005,-74.8003,1.5534,89.1139,0.0000
//INST
///DATE 2008/10/23 12:00
///ATTR SC,RW,RJ
////FRAME BASE
///GROUP1 RB1
///GROUP2 RB2
NOP
MOVJ C00000 VJ=50.00 +MOVJ C00001 VJ=50.00
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