Job Creation For Hand Guiding Function Execution - YASKAWA DX200 Instructions Manual

4 Hand Guiding Function Execution Procedures
4.3

Job Creation for Hand Guiding Function Execution

4.3 Job Creation for Hand Guiding Function Execution
There are two commands in the job necessary for executing the hand
guiding function.
• Turn the general output 4081 (#15110) OFF to ON.
• Turn the WAIT state.
The JOB examples to execute the hand guiding function are as follows.
(JOB example)
0000 NOP
0001 DOUT OT#(4081) OFF
0002 MOVL V=500.0
0003 TIMER T=0.5
0004 DOUT OT#(4081) ON
0005 TIMER T=0.5
0006 WAIT OT#(4081)= OFF
0007 TIMER T=0.5
0008 DOUT OT#(4081) OFF
0009 MOVL V=500.0
0010 END
In this JOB example, the hand guiding operation is available when
executing the command line 0006.
To skip the 0006 line and finish the hand guiding, turning the general
output 4081(#15110) OFF externally is required.
4-2
HW1485706
• Automatic operation
• Enables the hand guiding
function
• Hand guiding
• Automatic operation
HW1485706
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