Registering Reference Point Instructions - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

3.2.3.2 Registering Reference Point Instructions

3 Teaching
3.2 Teaching Operation
Reference point instructions (REFP) set an auxiliary point such as a wall
point for weaving. Reference point Nos. 1 to 8 are assigned for each
application. Follow these procedures to register reference point
instructions.
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Move the cursor.
– Move the cursor to the line immediately before the position where
the reference point to be registered.
Place immediately
before where
reference point is
to be registered.
4. Grip the Enable switch.
– The servo power is turned ON.
5. Press the axis operation key.
– Move the manipulator to the position to be registered as the
reference point.
6. Press [REFP] or select "REFP" from the inform list.
– The reference point instruction is displayed in the input buffer line.
7. Change the reference point number in one of the following ways.
– Move the cursor to the reference point number, and press [SHIFT] +
the cursor key to change the reference point number; or
– Press [SELECT] when the cursor is on the reference point number.
Then, the data input buffer line appears. Input the number and
press [ENTER].
8. Press [INSERT].
– The [INSERT] key lamp lights. 
When registering before the END instruction, pressing [INSERT] is
not needed.
9. Press [ENTER].
– The REFP instruction is registered.
Reference point
is registered.
The programming pendant does not have the [REFP] key for
the application of spot welding, motor gun, and of material
SUPPLE-
MENT
handling, assembling, and cutting.
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