YASKAWA DX100 Operator's Manual page 495

155507-1CD
DX100

9 General Purpose Application
9.1 Simplified Teaching and Playback
Step 1 -- Standby Position
Always be sure the manipulator is in a safe work area before operation.
1. Grip the Enable switch and the servo power will
turn ON. The manipulator can then be operated.
2. Move the manipulator to the standby position
using the axis operation keys. Be sure the
position is safe and that the work area is
appropriate for the job to be programmed.
3. Select joint interpolation by pressing [MOTION
TYPE]. Joint instruction "MOVJ..." will be
displayed in the input buffer line.
MOVJ VJ=0.78
4. Move the cursor to the line number 0000 and
press [SELECT].
0000 NOP
0001 END
5. The input buffer line appears. Move the cursor
to the right to VJ=*.**, which shows the speed.
While pressing [SHIFT] simultaneously, move
the cursor up and down (to higher and
lower play speeds) until the desired speed is
specified.
Set the speed to 50%.
MOVJ VJ=50.00
6. Press [ENTER]. Step1 (Line 0001) is registered.
0000 NOP
0001 MOVJ VJ=50.00
0002 END
9-6
Step 1
X- X+ X- X+
S- S+
R- R+
Y- Y+
Y- Y+
L- L+
B- B+
Z- Z+
Z- Z+
U- U+
T- T+
7- 7+
MOTION
TYPE
SELECT
SHIFT
ENTER
ENTER
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