Tool Coordinate System; Point Variables; Outline - YASKAWA DX100 Instructions Manual

DX100

2.1.2.2 Tool coordinate system

2.2

2.2.1 Outline

2 Basic Operations
2.2

Point Variables

When selecting the tool coordinate system through the programming
pendant, the robot moves as shown in fig. 2-3.
Changing the posture is the same .as the Cartesian coordinate system.
Fig. 2-3: Jog Motion in Tool Coordinate System
Point Variables
The point variables store and manage the taught position data in the job.
The point variables can be used to move the robot to the same position
multiple times in one job.
Registering the taught position data to the point variables can reduce the
time required for teaching within the job.
Difference between the point variables and the position variables (P***)
• The position variables can be read or written from/to all jobs while
the point variables use only the job where these point variables are
registered. Therefore, point variables may use identical numbers for
other jobs.
• The taught position data and the shift amount can be stored in the
position variable. In the point variables, only the taught position data
can be stored.
• 128 position variables are available as a standard (can be expanded
to 5,000). A point variable is created when a move instruction is
registered in the job, and the point variable number can be set
arbitrarily in the range of 0 to 9999.
• By using the instructions SET and SETE, a position variable can be
used for a registerd position; however, these instructions cannot be
used to register a position to a point variable.
• The position variables cannot be deleted (can be left without
position data). The point variables are deleted when the job where
these point variables are registered is deleted.
2-3
+Z
-B
+B
HW0485806
156446-1CD
+Y
+X