Prohibiting Weaving; Method To Prohibit Weaving In The Check Mode - YASKAWA DX100 Operator's Manual

DX100
Approach point

9.3.3.4 Prohibiting Weaving

9.3.3.5 Method to Prohibit Weaving in the Check Mode

9 General Purpose Application
9.3 Using Files
< Example 1 > REFP1 is registered because the wall direction is not
parallel to the Z-axis of the robot coordinate.
Wall direction
REFP1
< Example 2 > REFP2 is registered because the approach point is at
another side of the wall.
Wall
REFP2
If the weaving instruction is registered during the check mode of the play
mode or "TEST RUN" or FWD operation in the teach mode, weaving is
executed as well as other move instructions. However, in some cases
when weaving is not wanted because of a workpiece collides, etc., follow
the procedure below to prohibit weaving.
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SPECIAL PLAY}.
4. Select prohibit weaving during the check mode.
– The SPECIAL PLAY window appears.
9-35
Z-axis
003 MOVL V=120
004 WVON WEV#(1)
005 REFP 1
006 MOVL V=50
007 WVOF
Approach point
009 MOVJ VJ=25.00
010 MOVL V=120.0
WVON WEV#(1)
011 REFP 2
012 MOVL V=16.7
WVOF
155507-1CD
Example
Example
RE-CSO-A037
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