YASKAWA YRC1000 Instructions Manual page 11

HW1483590
3 Teaching
3.1 How to Teach a Pattern
Do not register any move instruction (MOVJ, MOVL, etc.)
between the FORMAPR and FORMCUT instructions.
NOTE
If any move instruction is registered, normal operation is
disabled or an alarm occurs.
Set the same value for both the FORMAPR and FORMCUT
instruction tag values (form cut setting file No., etc.) except
for "SPEED".
If the values are different, the FORMAPR instruction tag
NOTE
value is validated.
The speed in the FORMAPR instruction is for the speed
when moving to the starting point, and the FORMCUT
instruction is for the speed when cutting.
By setting the "START POINT" of the form cut setting file to the center or
the specified point, the FORMCUT instruction can start a cutting motion
from the center of the pattern or any point near the pattern.
By pressing PLAYBACK, TEST RUN, or INTERLOCK and NEXT at the
same time, the FORMAPR instruction is carried out and the manipulator
moves to the center of the pattern when the center is set as the "START
POINT"; or it moves to the specified point near the pattern when a specific
point is set as the "START POINT".
By pressing the NEXT or BACK, the FORMAPR instruction is carried out
and the manipulator disregards the "START POINT" setting and moves to
the center of the pattern.
3-2
Move to the shelter point
Move to the starting point of the pattern
Cutting
Move to the shelter point
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