YASKAWA DX100 Operator's Manual page 498

DX100

9 General Purpose Application
9.1 Simplified Teaching and Playback
Step 4 -- Work End Position
Specify the work end position.
Step 1
Step 2
Step 3
1. Move the manipulator to the work end position
with the axis operation keys. While the
manipulator is moving, keep a wide enough
distance to ensure it will not strike the
workpiece. There is no need to follow the work
line too closely.
2. Press [MOTION TYPE] to select linear
interpolation (MOVL).
MOVL V=66
3. With the cursor located on the line number
0003, press [SELECT].
MOVL V=66
4. The input buffer line appears. Move the cursor
to the right to V=*.**, 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 138 cm/min.
MOVL V=138
5. Press [ENTER]. Step 4 (Line 0004) is
registered.
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 END
9-9
155507-1CD
Step 4
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
RE-CSO-A037
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