Memory And Playback Function; Outline; Instructions For Memory And Playback Function - YASKAWA DX100 Instructions Manual

156446-1CD
DX100
2.3

2.3.1 Outline

2.3.2 Instructions for Memory and Playback Function

Sensor Instructions
MEMON
MEMOF
Arithmetic Instructions
CLEAR
2 Basic Operations
2.3

Memory and Playback Function

Memory and Playback Function
The memory and playback function is used to correct the robot motion
path for the correction amount measured by COMARC sensor and saved
every sampling time set in the parameter. At the welding of the first layer,
the result (correction amount) of the sensing by COMARC function is
saved, and the saved correction amount is used at the welding of the
second and following layers for correcting the robot motion path.
For the welding of the second and following layers, the corrected path can
be reproduced in the reverse direction of the welding of the first layer.
• COMARC function
The COMARC function is necessary to use the memory
NOTE
and playback function.
An expansion storage is needed to use the memory and
playback function.
The instructions used for the memory and playback function are listed
below.
Function Starts the memory and playback function.
Instruction Data 1
item
Data 2
Function Cancels the memory and playback function.
Instruction None
items
Function Deletes a memory replay file.
Instruction MPF
items
2-14
REC
PLY
BACKPLY
MPF# (File number)
HW0485806
Saves the path correction
amount measured by
COMARC.
Executes the correction
for the saved correction
amounts in the forward
direction.
Executes the correction
for the saved correction
amounts in the reversed
direction.
1 to 50
Deletes all the memory
and playback files.