YASKAWA DX100 Operator's Manual page 100

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3.2 Teaching Operation

For example, to perform the movement steps shown below, set as follows:

Steps P2, P4, and P5 are simple passing points, and do not require

accurate positioning. Adding PL=1 to 8 to the move instructions of these

steps moves the manipulator around the inner corners, thereby reducing

the cycle time.

If complete positioning is necessary as P3 or P6, add PL=0.

Passing points P2, P4, and P5:

MOVL V=138 PL=3

Positioning point P3 and P6:

MOVL V=138 PL=0

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