YASKAWA DX100 Operator's Manual page 512

DX100

9 General Purpose Application
9.1 Simplified Teaching and Playback
Step 4 -- Cutting End Position
Define the cutting end position.
1. Move the manipulator to the cutting end position
with the axis operation keys. It is necessary to
choose a direction in which the treatment device
and the tools do not interfere when the
manipulator moves, and teach that position.
2. Set linear interpolation (MOVL) by pressing
[MOTION TYPE].
MOVL V=11.0
3. With the cursor located on the line number,
press [SELECT].
MOVL V=11.0
4. The input buffer line appears. Move the cursor
to the right to "V=11.0," which shows the speed.
Press [SELECT] to enable the input of
numbers. Then, input the desired value of
50.0mm/s with the Numeric keys and press
[ENTER].
5. Press [ENTER]. Step 4 is registered.
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=12.50
0004 TOOLON
0005 MOVL V=50.0
0006 END
6. Press [./TOOL OF]. "TOOLOF" is displayed in
the input buffer line.
TOOLOF
7. Press [ENTER]. The TOOLOF instruction is
registered.
9-23
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+
MOTION
TYPE
SELECT
SELECT
7 8 9
4 5 6
ENTER
1 2 3
TOOL ON
TOOL ON JOB
.
-
0
MANUAL TOOL OF
TOOL OF
OPEN JOB
ENTER
ENTER
.
TOOL OF
ENTER
ENTER
RE-CSO-A037
512 of 554