Table Of Contents - YASKAWA DX100 Instructions Manual

156446-1CD
DX100
1 Outline ............................................................................................................................................ 1-1
1.1 Multi-layer Welding Function ............................................................................................. 1-1
1.2 Features ............................................................................................................................ 1-1
1.3 Customer Support Information........................................................................................... 1-2
2 Basic Operations............................................................................................................................. 2-1
2.1 Robot Posture Control by Euler Angles ............................................................................. 2-1
2.1.1 Outline .................................................................................................................. 2-1
2.1.2 Operation.............................................................................................................. 2-2
2.1.2.1 Cartesian coordinate system................................................................... 2-2
2.1.2.2 Tool coordinate system ........................................................................... 2-3
2.2 Point Variables................................................................................................................... 2-3
2.2.1 Outline .................................................................................................................. 2-3
2.2.2 Registering Point Variables .................................................................................. 2-4
2.2.2.1 Changing the number of the point variable ............................................. 2-5
2.2.2.2 Registering a move instruction together with a point variable ................. 2-8
2.2.3 Deleting a Point Variable .................................................................................... 2-10
2.2.3.1 Deleting the move instruction ................................................................ 2-10
2.2.3.2 Deleting the point variable designation ................................................. 2-11
2.2.4 Editing the Point Variable (Taught Position Data) .............................................. 2-13
2.3 Memory and Playback Function ...................................................................................... 2-14
2.3.1 Outline ................................................................................................................ 2-14
2.3.2 Instructions for Memory and Playback Function................................................. 2-14
2.3.3 Application Example ........................................................................................... 2-15
2.4 Multi-layer Welding Tool Shift Function ........................................................................... 2-17
2.4.1 Outline ................................................................................................................ 2-17
2.4.2 Tool Shift Coordinate System............................................................................. 2-17
2.4.3 Registering ......................................................................................................... 2-18
2.5 Search and Shift Function ............................................................................................... 2-19
2.5.1 Outline ................................................................................................................ 2-19
2.5.2 Items to be Set for SRSFT Instruction................................................................ 2-20
2.5.3 Registering ......................................................................................................... 2-21
2.5.4 Application Example of SRSFT Instruction......................................................... 2-23
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HW0485806