Teaching Procedure - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

9.1.1.2 Teaching Procedure

9 General Purpose Application
9.1 Simplified Teaching and Playback
To playback the manipulator, the instruction to move the manipulator must
be written in a job. This instruction is called a move instruction. The
destination position, the interpolation method, the play speed, etc. are
registered in the move instruction.
Main move instructions begin with "MOV" in the INFORM III language
used by the DX100.
<Example>
MOVJ VJ=50.00
MOVL V=1122 PL=1
<Example>
Refer to the following JOB CONTENT window. When executing playback,
the manipulator moves to the position of Step 1 with the interpolation type
and play speed registered in Step 1's move instruction. Then, the
manipulator moves between Steps 1 and 2 with the interpolation type and
play speed registered in Step 2's move instruction. Then, the manipulator
moves between Steps 2 and 3 with the interpolation type and play speed
registered in Step 3's move instruction. After the manipulator reaches the
position of Step 3, the manipulator then executes the TIMER instruction
followed by the DOUT instruction, and then continues on to Step 4.
JOB CONTENT
JOB-A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
Line number
0005
0006
0007
0008
Step 1
MOVJ VJ=50.00
9-4
STEP NO: 0003
TOOL: 00
NOP
Step 1 Step 1
MOVJ VJ=50.00
Step 2 Step 2
MOVJ VJ=50.00
Step 3 Step 3
MOVL V=1122
TIMER T=5.00
DOUT OT#(1) ON
Step 4 Step 4
MOVL V=1122
Step 5 Step 5
MOVJ VJ=50.00
END
Step 2
MOVJ VJ=50.00
Step 3
MOVL V=1122
To Step 4
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RE-CSO-A037