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1 Table of Basic Instructions..................................5

1.1 Move Instructions......................................................................................5

1.2 I/O Instructions..........................................................................................8

1.3 Control Instructions................................................................................10

1.4 Shift Instructions.....................................................................................12

1.5 Operating Instructions............................................................................13

2 Teaching..............................................................21

2.1 Preparation for Teaching........................................................................21

2.1.1 Checking Emergency Stop Buttons............................................................................... 21

2.1.2 Setting the Teach Lock.................................................................................................. 21

2.1.3 Registering a Job........................................................................................................... 21

2.1.4 Registering Jobs............................................................................................................ 22

2.1.5 Registering Comments .................................................................................................. 23

2.1.6 Registering Control Groups ........................................................................................... 23

2.1.7 Switching to the Teaching Window................................................................................ 23

2.2 Teaching Operation.................................................................................24

2.2.1 Teaching Window .......................................................................................................... 24

2.2.2 Interpolation Type and Play Speed ............................................................................... 25

2.2.3 Joint Interpolation .......................................................................................................... 25

2.2.4 Linear Interpolation........................................................................................................ 25

2.2.5 Circular Interpolation .....................................................................................................26

2.2.6 Spline Interpolation........................................................................................................ 28

2.2.7 Teaching Steps.............................................................................................................. 29

2.2.8 Overlapping the First and Last Steps ............................................................................ 39

2.3 Checking Steps........................................................................................39

2.3.1 FWD/BWD Key Operations ........................................................................................... 39

2.4 Modifying Steps.......................................................................................45

2.4.1 Displaying the JOB CONTENT Window for Editing....................................................... 48

2.4.2 Inserting Move Instructions............................................................................................ 49

2.4.3 Deleting Move Instructions ............................................................................................ 51

2.4.4 Modifying Move Instructions .......................................................................................... 52

2.4.5 Undo Operation .............................................................................................................53

2.4.6 Modifying Reference Point Instructions ......................................................................... 53

2.4.7 Modifying Timer Instructions.......................................................................................... 54

2.5 Modifying Jobs ........................................................................................55

2.5.1 Calling Up a Job ............................................................................................................ 55

2.5.2 Windows Related to Job................................................................................................ 55

2.5.3 JOB HEADER Window.................................................................................................. 56

2.5.4 JOB CONTENT Window ............................................................................................... 57

2.5.5 JOB CAPACITY Window............................................................................................... 58

Motoman DX100 User Manual

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