1 Introduction ..................................................................................................................................... 1-1

1.1 DX100 Overview................................................................................................................ 1-1

1.2 Programming Pendant....................................................................................................... 1-2

1.2.1 Programming Pendant Overview.......................................................................... 1-2

1.2.2 Key Description .................................................................................................... 1-3

1.2.2.1 Character Keys ....................................................................................... 1-3

1.2.2.2 Symbol Keys ........................................................................................... 1-3

1.2.2.3 Axis Keys and Numeric Keys .................................................................. 1-3

1.2.2.4 Keys Pressed Simultaneously................................................................. 1-3

1.2.3 Programming Pendant Keys................................................................................. 1-4

1.2.4 Programming Pendant Display........................................................................... 1-11

1.2.4.1 Five Display Areas ................................................................................ 1-11

1.2.4.2 General-purpose Display Area .............................................................. 1-12

1.2.4.3 Main Menu Area .................................................................................... 1-13

1.2.4.4 Status Display Area............................................................................... 1-13

1.2.4.5 Human Interface Display Area .............................................................. 1-16

1.2.4.6 Menu Area............................................................................................. 1-16

1.2.5 Screen Descriptions ........................................................................................... 1-17

1.2.6 Character Input Operation .................................................................................. 1-18

1.2.6.1 Character Input ..................................................................................... 1-18

1.2.6.2 Operation .............................................................................................. 1-18

1.2.6.3 Alphanumeric Input ............................................................................... 1-19

1.2.6.4 Symbol Input ......................................................................................... 1-20

1.2.6.5 Register Word Function......................................................................... 1-21

1.3 Mode................................................................................................................................ 1-29

1.3.1 Teach Mode ....................................................................................................... 1-29

1.3.2 Play Mode .......................................................................................................... 1-29

1.3.3 Remote Mode ..................................................................................................... 1-29

1.3.4 Teach Mode Priority ........................................................................................... 1-29

1.4 Security Mode.................................................................................................................. 1-30

1.4.1 Types of Security Modes .................................................................................... 1-30

1.4.2 Changing Security Modes .................................................................................. 1-35

2 Manipulator Coordinate Systems and Operations .......................................................................... 2-1

2.1 Control Groups and Coordinate Systems .......................................................................... 2-1

2.1.1 Control Group ....................................................................................................... 2-1

2.1.2 Types of Coordinate Systems .............................................................................. 2-2

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Table Of Contents - YASKAWA DX100 Operator's Manual