Moving To Reference Point; Test Operations - YASKAWA DX100 Operator's Manual

DX100

3.3.1.3 Moving to Reference Point

3.3.1.4 Test Operations

3 Teaching
3.3 Checking Steps
To check the position of a taught reference point, follow these procedures
to move the manipulator to the reference point.
1. Move the cursor to the reference point instruction line to be checked.
2. Press [REFP] + [FWD].
– The manipulator moves to the reference point of the cursor line.
The programming pendant does not have the [REFP] key for
the application of spot welding, general purposes (= material
SUPPLE-
MENT
handling, assembling, cutting) or motor gun.
Playback operations can be simulated in the teach mode with test
operations. This function is convenient for checking continuous paths and
operation instructions.
Test operation differs in the following ways from actual playback in the
play mode.
• Operation speeds greater than the maximum teaching
speed are reduced to the maximum teaching speed.
NOTE
• Work instruction output, such as arc output, is not exe-
cuted.
Note that the motion path for the playback operation is replayed during the
test operation. Therefore, make sure that there is no obstacle around the
manipulator and great caution should be exercised when the test
operation is performed.
Motion Path for Test Operation
B
A
There may be a slight difference between the motion path
NOTE
for the test operation and the motion path for the playback
operation due to a mechanical error or control delay, etc.
3-27
C
Motion Path for Playback Operation
Motion Path for Test Operation
Job Example
NOP
MOVJ VJ=50.0 A
MOVL V=1500.0 B
MOVL V=1500.0 C
:
155507-1CD
RE-CSO-A037
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