Teaching Procedure - YASKAWA DX100 Operator's Manual

DX100

9.1.3.2 Teaching Procedure


9 General Purpose Application
9.1 Simplified Teaching and Playback
The teaching procedure of Step 2 which specifies the cutting pose and
Step 3 and 4 (cutting section) are explained.
• Teach Step 1, which is the standby position, to a safe
position where the manipulator will not collide with the
NOTE
workpiece and the tool.
• Confirm the cutting path with [FWD] and [BWD] after
teaching.
Step 2 -- Near cutting position
Define the cutting pose.
1. Specify the correct posture with the axis
operation keys for the manipulator to start
cutting.
2. Press [ENTER]. Step 2 is registered.
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 END
9-21
155507-1CD
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+
ENTER
ENTER
RE-CSO-A037
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