Overlapping The First And Last Steps - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

3.2.4 Overlapping the First and Last Steps

3 Teaching
3.2 Teaching Operation
Why is overlapping the first and last step necessary?

Assume that the job shown below is to be repeated. The
manipulator moves from the last step (Step 6) to the first
step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly Step 5 to Step 1, thereby
improving work efficiency.
SUPPLE-
MENT Step 6 after
change
Step 1
Step 2
1. Move the cursor to the first step line.
2. Press [FWD].
– The manipulator moves to the first step position.
3. Move the cursor to the last step line.
– The cursor starts blinking.
– When the cursor line position and the manipulator position are
different in the JOB CONTENT window, the cursor blinks.
4. Press [MODIFY].
– The key lamp lights.
5. Press [ENTER].
– The position data for the first step is registered on the line of the last
step.
– At this time, only the position data can be changed in the last step.
Interpolation type and play speed do not change.
3-22
Step 6
Step 5
The position of step 6 is
changed to overlap with
step 1.
Step 4
Step 3
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