YASKAWA DX100 Operator's Manual page 81

DX100
3 Teaching
3.2 Teaching Operation
Setting the Play Speed
1. Move the cursor to the instruction.
2. Press [SELECT].
– The cursor moves to the input buffer line.
3. Move the cursor to the play speed to be set.
– The joint speed moves up and down.
4. Press [SHIFT] + the cursor key [↑] or [↓] simultaneously.
5. Press [ENTER].
– The MOV instruction is registered.
Move instruction
is registered.
Follow the above instructions when conducting teaching. (Tool number,
interpolation type, or play speed does not need to be set if it is same as
the previous step.)
To make the setting so that the play speed tag is not dis-
played as a default, select {EDIT} from the menu and then
SUPPLE-
MENT
select "ENABLE SPEED TAG" to delete "∗."
• The position level can be set at the same time that the
move instruction is registered.
SUPPLE-
• To display the position level tag as a default, select {EDIT}
MENT
from the menu and then select "ENABLE POS LEVEL
TAG."
Position Level: The position level is the degree of approximation of the
manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint
interpolation) and MOVL (linear interpolation).
If the position level is not set, the precision depends on the operation
speed. Setting an appropriate level moves the manipulator in a path
suitable to circumferential conditions and the workpiece.
The relationship between path and accuracy for position levels is as
follows.
Position level 0
P2
Position level 1
Position level 2
Position level 3
Position level 4
Positioning level 8
P1
工控帮助教小舒QQ:2823408167
3-14
Position Levels
0
P3
1
to
8
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Accuracy
Teaching position
Fine
|
Rough