YASKAWA DX100 Operator's Manual page 501

155507-1CD
DX100

9 General Purpose Application
9.1 Simplified Teaching and Playback
Ensuring the First and Last Step are Identical
The manipulator has stopped at Step 6, which should be very close to
Step1.
It is possible to move directly from the job end position of Step 5 to Step1,
so the manipulator can begin the next job quickly and efficiently.
The following operation will make Step 6 (end position) and Step1
(standby position) identical.
Modified Step 6
Step 1
Step 2
Step 3
1. Move the cursor to Step1 (Line 0001).
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
2. Press [FWD]. The manipulator will move to
Step1.
3. Move the cursor to Step 6 (Line 0006).
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
4. Press [MODIFY].
5. Press [ENTER]. This will change the position of
Step 6 to be the same as Step1.
9-12
Corrent Step 6
Step 5
Step 4
FWD
MODIFY
ENTER
ENTER
RE-CSO-A037
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