YASKAWA DX100 Operator's Manual page 507

155507-1CD
DX100

9 General Purpose Application
9.1 Simplified Teaching and Playback
Changing the Speed between Steps
Change the manipulator speed. Slow the speed between Step 3 and 
Step 4.
1. Move the cursor to Step 4.
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. Move the cursor to the instruction and press
[SELECT].
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
3. The input buffer line appears. Move the cursor
to the right to "V=138," 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 66cm/min.
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V= 66
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
4. Press [ENTER]. The speed is changed.
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=66
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
The unit for speed can be verified and modified by "SPEED
SUPPLE-
DATA INPUT FORM" from {SETUP}
MENT
9-18
SELECT
SHIFT
ENTER
ENTER

{OPERATE COND}.
507 of 554
RE-CSO-A037