Table Of Contents - YASKAWA MOTOMAN-DX100 Instructions Manual

156191-1CD
DX100
1 Relative Job .................................................................................................................................... 1-1
1.1 Coordinate Systems .......................................................................................................... 1-1
1.2 Relative Job Shift Functions .............................................................................................. 1-1
2 Examples of Use of Relative Jobs .................................................................................................. 2-1
2.1 Shift Function to Offset Workpiece Position Error ............................................................. 2-1
2.2 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations ..... 2-4
2.2.1 By Modifying the Teaching Coordinate................................................................. 2-4
2.2.2 By Converting the User Coordinate When Operating........................................... 2-5
2.3 Using One Job on Multiple Manipulators ........................................................................... 2-6
3 Operations Related to Relative Jobs .............................................................................................. 3-1
3.1 Converting into a Related Job ........................................................................................... 3-1
3.2 Verification of Information Related to Relative Job............................................................ 3-4
3.2.1 Verifying Coordinate System ................................................................................ 3-4
3.2.2 Verifying Command Positions .............................................................................. 3-5
3.3 Instructions Related to Relative Job .................................................................................. 3-6
3.3.1 CALL/JUMP.......................................................................................................... 3-6
3.3.2 MFRAME .............................................................................................................. 3-7
3.3.3 Registering an Instruction..................................................................................... 3-8
3.4 Editing Relative Jobs ....................................................................................................... 3-10
3.4.1 Blink Indication of Move Instruction on Job Content Window............................. 3-10
3.4.2 Addition and Modification of Steps ..................................................................... 3-10
3.4.3 Cut & Paste Function ......................................................................................... 3-10
3.5 Relative Job Operation Method ....................................................................................... 3-11
3.5.1 Previous Step Regarded (Constant B-axis Sign) ............................................... 3-12
3.5.2 Previous Step Regarded (Minimum R-axis Movement) ..................................... 3-14
3.5.3 Type Regarded................................................................................................... 3-15
4 Interface with an Easy Offline Teaching System ............................................................................ 4-1
4.1 Job Data Format ................................................................................................................ 4-1
4.1.1 JOB ...................................................................................................................... 4-3
4.1.2 NAME ................................................................................................................... 4-3
4.1.3 POS ...................................................................................................................... 4-3
4.1.4 INST ..................................................................................................................... 4-6

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