YASKAWA DX100 Operator's Manual page 506

DX100

Step 7
Step 5
9 General Purpose Application
9.1 Simplified Teaching and Playback
Deleting a Step
Delete the step you just added.
D e l e te
Step 6
1. Move the manipulator to Step 6 (Line 0006) by
pressing [FWD].
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 MOVJ VJ=50.00
0008 END
2. Make sure the cursor is on the step you wish to
delete, and press [DELETE].
3. Press [ENTER]. The step is deleted. When a
step is deleted, the numbering of step is
automatically adjusted corresponding to the
deletion.
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
When "Error 2070: Set Robot Exactly to Taught Position"
Occurs
When the operator presses [ENTER] during the previous
operation, an error can occur in some cases. The error
occurs because the manipulator has not been moved
exactly to the taught position. Cancel the error with either of
the following two procedures:
SUPPLE-
MENT
• Press [CANCEL] and press [
manipulator to the position of the step.
• Press [MODIFY] and press [ENTER] to change the position
data of the step, then press [DELETE] and press [ENTER].
If the cursor in the window is blinking, the manipulator is not
in the taught position.
9-17
155507-1CD
Step 6
Step 5
FWD
DELETE
ENTER
ENTER
FWD
] to move the
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