Using Files; Weaving Basic Coordinate System - YASKAWA DX100 Operator's Manual

155507-1CD
DX100
9.3

9.3.1 Weaving Basic Coordinate System

9 General Purpose Application

9.3 Using Files

Using Files
Weaving is performed based on the following coordinate system. This
coordinate system is automatically generated according to the conditions
described in a weaving condition file.
Wall direction
Weaving Basic Coordinate System
Wall Direction: Z-direction of the robot axis
Horizontal Direction: The direction of approach point from the wall
Direction of Travel: The direction in which the manipulator moves from the
weaving start point to the end point
The approach point is a point indicated by a step
SUPPLE-
immediately before the step where weaving starts.
MENT
Wall direction
Depending on the mounting and shape of the workpiece, a
definition of the above coordinate system may not be
sufficient to generate a weaving pattern. In that case,
NOTE
register the reference point REFP1 or REFP2. For details,
refer to section 9.3.3.3 "Cases that Require the Registration
of Reference Points" on page 9-34 ".
9-30
Direction of travel
Horizontal direction
Z-axis
Approach point
Horizontal
direction
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